Systems and methods for uav docking

ABSTRACT

An apparatus for housing an unmanned aerial vehicle (UAV) in or on a vehicle includes a landing connection component configured to form a connection between the UAV and the vehicle when the UAV is landed in or on the vehicle, and a cover movable between a plurality of positions to permit the UAV to take off and land in or on the vehicle. The cover includes an antenna or a satellite dish integrated thereto. An orientation of the antenna or the satellite dish is adjustable for tracking a motion of the UAV when the UAV is in flight.

CROSS-REFERENCE

This application is a continuation of U.S. application Ser. No.15/966,276, filed on Apr. 30, 2018, which is a continuation of U.S.application Ser. No. 14/717,987, filed on May 20, 2015, now U.S. Pat.No. 10,059,467, which is a continuation of U.S. application Ser. No.14/301,130, filed on Jun. 10, 2014, now U.S. Pat. No. 9,056,676, whichis a continuation of International Application No. PCT/CN2014/079012,filed on May 30, 2014, the contents of all of which are herebyincorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

Aerial vehicles such as unmanned aerial vehicles (UAVs) can be used forperforming surveillance, reconnaissance, and exploration tasks formilitary and civilian applications. Such aerial vehicles may carry apayload configured to perform a specific function.

In some instances, an individual may be riding a vehicle and may wish tocollect information about the vehicle's surroundings that cannot bereadily discerned from within the vehicle.

SUMMARY OF THE INVENTION

In some instances, it may be desirable for a vehicle to be able tocommunicate with an aerial vehicle, such as an unmanned aerial vehicle(UAV) to gather information about the vehicle's surroundings. Thus, aneed exists for improved UAV docking systems that may permit a UAV todock with a vehicle. The present invention provides systems, methods,and devices related to using a UAV associated with a vehicle to gatherinformation about the environment surrounding the vehicle andcommunicate with the vehicle. The UAV may take off and/or land from thevehicle. This may include recognition between the UAV and the vehicle,and performing obstacle avoidance. Communication between the UAV and thevehicle may be implemented to ensure robust communications between themovable vehicle and the flying UAV.

An aspect of the invention is directed to a method for coupling anunmanned aerial vehicle (UAV) to a vehicle, said method comprising: (a)detecting a marker on the vehicle that differentiates the vehicle fromother vehicles; (b) generating a command signal, based on the marker, todrive one or more propulsion units of the UAV, thereby controlling alateral velocity of the UAV to fall within a predetermined rangerelative to a lateral velocity of the vehicle; and (c) coupling the UAVonto the vehicle while the lateral velocity of the UAV falls within thepredetermined range.

In some embodiments, the method may further comprise decreasing analtitude of the UAV prior to coupling the UAV onto the vehicle. Thepredetermined range may permit coupling of the UAV with the vehiclewithout damaging the UAV.

The marker on the vehicle may uniquely differentiate the vehicle fromother vehicles within 5 kilometers of the vehicle. The marker may be avisual marker detectable by an optical sensor. The marker may be a QRcode. The marker may include black and white alternating patterns. Themarker may include a laser spot. The marker may be detectable by aninfrared sensor. The marker may be indicative of a landing position ofthe UAV on the vehicle.

The lateral velocity may be forward velocity of the vehicle. The forwardvelocity may be greater than zero. The lateral velocity of the UAV maybe controlled by varying or maintaining output of the one or morepropulsion units. The command signal may be generated with aid of aprocessor. The signal may be generated in response to a command to theUAV to initiate a landing sequence. The processor may be on-board theUAV. Alternatively, the processor may be on-board the vehicle. The oneor more propulsion units may be rotors, and the lateral velocity of theUAV may be controlled by varying or maintaining the speed of rotation ofone or more rotors.

The predetermined range may be within 5 mph greater than or less thanthe lateral velocity of the vehicle. The method may further comprisereceiving, at the UAV, the lateral velocity of the vehicle; andcalculating a target lateral velocity of the UAV falling within thepredetermined range. The method may further comprise receiving, at theUAV, a target lateral velocity of the UAV falling within thepredetermined range, wherein said target velocity is calculated on-boardthe vehicle based on the lateral velocity of the vehicle.

In some implementations, the UAV may be a rotorcraft. The altitude ofthe UAV can be decreased by decreasing the speed of rotation of one ormore rotors. The coupling may be made via a mechanical connection. Thecoupling may be made via a magnetic connection. The coupling may occuron a roof of the vehicle. The marker may be on the roof of the vehicle.The coupling may be configured to prevent detachment of the UAV and thevehicle even when the vehicle is traveling between 30 mph and 100 mph.The steps (a)-(c) may occur automatically without requiring humanintervention. The coupling may be automated and can occur withoutintervention of an operator of the vehicle. The coupling may beautomated and can occur without intervention of any live being within oroutside the vehicle.

An additional aspect of the invention may be directed to an unmannedaerial vehicle (UAV) capable of coupling to a moving vehicle, said UAVcomprising: (a) one or more propulsion units configured to generate alift of the UAV; (b) one or more sensors configured to detect a markeron the vehicle; (c) one or more processors, individually or collectivelyconfigured to generate a command signal, based on the detected marker,wherein the one or more propulsion units, in response to the commandsignal, controls a lateral velocity of the UAV to fall within apredetermined range relative to an assessed lateral velocity of thevehicle; and (d) one or more landing components configured to couple theUAV onto the vehicle.

The one or more propulsion units, in response to the command signal, maydecrease an altitude of the UAV. The one or more propulsion units maydecrease the altitude of the UAV prior to coupling the UAV onto thevehicle. The predetermined range may permit coupling of the UAV with thevehicle without damaging the UAV.

The marker on the vehicle may uniquely differentiate the vehicle fromother vehicles within 5 kilometers of the vehicle. The marker may be avisual marker detectable by an optical sensor. The marker may be a QRcode. The marker may include black and white alternating patterns. Themarker may include a laser spot. The marker may be detectable by aninfrared sensor. The marker may be indicative of landing position of theUAV on the vehicle.

The lateral velocity may be a forward velocity of the vehicle. Theforward velocity may be greater than zero. The one or more propulsionunits may be rotors, and wherein the lateral velocity of the UAV iscontrolled by varying or maintaining the speed of rotation of one ormore rotors. The predetermined range may be within 5 mph greater than orless than the lateral velocity of the vehicle.

In some embodiments, the UAV may be a rotorcraft. The altitude of theUAV may be decreased by decreasing the speed of rotation of one or morerotors. The one or more landing components may be configured to providea mechanical connection. The one or more landing components may beconfigured to provide a magnetic connection. The one or more landingcomponents may be configured to couple to a roof of the vehicle. Themarker may be on the roof of the vehicle. The one or more landingcomponents may be configured to prevent detachment of the UAV and thevehicle even when the vehicle is traveling between 30 mph and 100 mph.

A vehicle configured to couple an unmanned aerial vehicle (UAV) may beprovided in accordance with another aspect of the invention. Saidvehicle may comprise: a marker capable of being detected by the UAV thatdistinguishes the vehicle from other vehicles; and one or more couplingconnection components configured to couple the UAV to the vehicle.

The vehicle may further comprise a processor capable of identifying alocation of the UAV. The vehicle may further comprise a communicationunit capable of communicating with the UAV. The vehicle may furthercomprise a location unit capable of determining the velocity of thevehicle. The communication unit may be configured to transmit vehiclevelocity information to the UAV. The marker may be on a roof of thevehicle. The one or more coupling connection components may be on a roofof the vehicle.

Furthermore, aspects of the invention may provide an unmanned aerialvehicle (UAV) housing apparatus comprising: a mounting componentconfigured to attach to a vehicle; a landing connection componentconfigured to form a connection with the UAV that prevents detachment ofthe UAV and the UAV housing apparatus; and a cover configured to atleast partially enclose the UAV when the UAV is connected to the landingconnection component.

The mounting component may be configured to attach to a vehicle roof.The mounting component may be configured to removably attach to thevehicle. The mounting component may be permanently attached to thevehicle.

In some embodiments, the landing connection component may provide amechanical connection. The landing connection component may provide amagnetic connection. The landing connection component may be configuredto prevent detachment of the UAV and the vehicle when the vehicle istraveling between 30 mph and 100 mph. The landing connection componentmay permit charging of the UAV while the UAV is connected to the landingconnection component. The landing connection component may permitinterchange of data between the UAV and the vehicle via the landingconnection component while the UAV is connected to the landingconnection component.

The cover is configured to completely enclose the UAV when the UAV isconnected to the landing connection component. The cover may be coupledto an actuator configured to drive the cover between an open positionand a closed position. The cover may be configured to open and closewhile the vehicle is in motion. The cover may be capable of functioningas a communication device when the cover is in an open position. Thecommunication device may be a satellite dish. The communication devicemay be used to communicate with the UAV.

The UAV may further comprise a processor configured to generate a signalto close the cover when a UAV has landed and connected to the landingconnection component. The UAV may further comprise a processorconfigured to generate a signal to open the cover when the UAV is aboutto take off from the vehicle. The cover may be waterproof. The cover maybe powered by solar power. The cover may store energy used to chargeand/or power the UAV when the UAV is connected to the landing connectioncomponent. The landing connection component may be configured to form aconnection with multiple UAVs simultaneously. The cover may beconfigured to at least partially enclose multiple UAVs simultaneously.

In accordance with aspects of the invention, a vehicle forming aplatform from which an unmanned aerial vehicle (UAV) may take off orland may be provided. Said vehicle may comprise: the UAV housingapparatus as previously described; and one or more propulsion unitconfigured to propel the vehicle.

The vehicle may be a car, truck, van, or bus. The vehicle may comprise aplurality of wheels. The vehicle may further comprise one or morecommunication unit capable of wirelessly communicating with the UAV. Thecommunications may include two-way communications with the UAV. Thecover may be a roof of the vehicle that is capable of opening andclosing.

Additional aspects of the invention may include a method of housing anunmanned aerial vehicle (UAV), said method comprising: providing the UAVhousing apparatus as previously described; detecting a UAV status; andvarying or maintaining cover position based on the UAV status.

The method may further comprise closing the cover when the UAV haslanded and formed a connection to the landing connection component. Themethod may further comprise opening the cover when the UAV is about totake off from the vehicle.

Moreover, aspects of the invention may include a method of landing anunmanned aerial vehicle (UAV) onto a companion moving vehicle, saidmethod comprising: generating a command signal to drive one or morepropulsion units of the UAV, thereby controlling positioning of a UAVrelative to a moving vehicle, such that the UAV is moving along a traveltrajectory in line with the companion moving vehicle; detecting anobstruction along the travel trajectory; and altering the UAV traveltrajectory to avoid the obstruction.

The UAV position relative to the vehicle may be controlled via an inputfrom a user via a remote controller. The UAV position relative to thevehicle may be controlled in accordance with a predetermined flightpath.

The travel trajectory may include a projected UAV flight path. The UAVflight path may include a flight path for the UAV to land on thevehicle. The UAV flight path may include a flight path for the UAV totake off from the vehicle. The UAV flight path may include a flight pathfor the UAV to travel a predetermined distance ahead of the vehicle. TheUAV flight path may include a flight path for the UAV to travel within apredetermined range of the vehicle. The altered UAV flight path maycoincide with the UAV travel trajectory after the obstruction iscleared.

In some embodiments, the obstruction includes a structure. Theobstruction may include a moving object. The obstruction may be detectedwith aid of one or more sensors. The obstruction may be detected by theUAV accessing geographic information. The geographic information mayinclude map information.

An aspect of the invention may be directed to a method of permitting anunmanned aerial vehicle (UAV) to take off from a companion movingvehicle, said method comprising: generating a command signal to driveone or more propulsion units of the UAV, thereby controlling positioningof a UAV relative to a moving vehicle, such that the UAV is set to movealong a travel trajectory in line with the companion moving vehicle;detecting an obstruction along the travel trajectory; and preventing theUAV from taking off until the obstruction is no longer in the traveltrajectory, or altering the UAV travel trajectory to avoid theobstruction.

Additionally, aspects of the invention may include a controller forcontrolling operation of an unmanned aerial vehicle (UAV), saidcontroller comprising: one or more user input components, wherein theone or more user input components are configured to be part of avehicle; and a processor configured to receive a signal from the userinput components and generate a command to be transmitted to the UAV tocontrol operation of the UAV.

The one or more user input components may be at least part of a steeringwheel of the vehicle. The one or more user input components may be atleast part of a shift control of the vehicle. The one or more user inputcomponents may be at least part of a dashboard of the vehicle. The oneor more user input components may be at least part of a display of thevehicle.

In some embodiments, the one or more user input components may include abutton. The one or more user input components may include a joystick.The one or more user input components may include a touchscreen. The oneor more user input components may include a microphone. The one or moreuser input components may include a camera.

Optionally, controlling operation of the UAV may include controllingflight of the UAV. Controlling operation of the UAV may includecontrolling positioning of a sensor of the UAV. The sensor may be acamera. Controlling operation of the UAV may include controllingoperation of a sensor of the UAV.

An aspect of the invention may include a vehicle for controllingoperation of an unmanned aerial vehicle (UAV), said vehicle comprisingthe controller as previously described; and one or more propulsion unitsconfigured to propel the vehicle.

The vehicle may be a car, truck, van, or bus. The vehicle may comprise aplurality of wheels. The vehicle may further comprise one or morecommunication units capable of wirelessly communicating with the UAV.The communications may include two-way communications with the UAV.

A method for controlling operation of an unmanned aerial vehicle (UAV)may be provided in accordance with an aspect of the invention. Saidmethod may comprise: receiving, at one or more user input components ofa vehicle, UAV control input from a user, wherein the one or more userinput components are part of the vehicle; and generating, with aid of aprocessor, a command to be transmitted to the UAV to control operationof the UAV based on a signal from the user input components.

The one or more input components may be built into a steering wheel ofthe vehicle. The one or more input components can be built into a shiftcontrol of the vehicle. The one or more input components may be builtinto a dashboard of the vehicle. The one or more input components may beat least part of a display of the vehicle.

In some implementations, the one or more user input components mayinclude a button. The one or more user input components may include atouchscreen. The one or more user input components may include amicrophone. The one or more user input components may include a camera.

The user input may include a touch input from the user. The user inputmay include a voice input from the user. The user input may include agesture by the user. The user input may be provided while the vehicle isin motion. The user input may be provided while the user is operatingthe vehicle.

The command may control flight of the UAV. The command may control asensor on-board the UAV. The command may initiate a take-off sequencefor the UAV from the vehicle. The command may initiate a landingsequence for the UAV on the vehicle.

A method for displaying information from an unmanned aerial vehicle(UAV) may be provided. Said method may comprise: providing a vehiclecapable of permitting a UAV to take off from the vehicle and/or land onthe vehicle while the vehicle is in operation; receiving, at acommunication unit of the vehicle, information from the UAV; anddisplaying, at a display unit within the vehicle, information from theUAV while the vehicle is in operation.

The vehicle may include a roof mount configured to permit the UAV totake off and/or land from a roof of the vehicle. The information fromthe UAV may include location information about the UAV. The informationfrom the UAV may include images captured by a camera on-board the UAV.The information from the UAV may include a state of charge of an energystorage device of the UAV.

In some cases, the display unit may be built into the vehicle and is notremovable from the vehicle. Alternatively, the display unit may beremovable from the vehicle. The information may be displayed on the unitin real-time. The information may be displayed while the UAV is inflight. The information may be displayed while the UAV is landed on thevehicle.

The communication unit may also be capable of transmitting informationfrom the vehicle to the UAV.

Also, aspects of the invention may be directed to a vehicle fordisplaying information from an unmanned aerial vehicle (UAV), saidvehicle comprising: a mount configured to permitting a UAV to take offfrom the vehicle and/or land on the vehicle while the vehicle is inoperation; a communication unit configured to receive information fromthe UAV; and a display unit configured to display the information fromthe UAV while the vehicle is in operation.

A method for providing communications between an unmanned aerial vehicle(UAV) and a vehicle may be provided in accordance with aspects of theinvention, said method comprising: providing a vehicle capable ofcommunicating a UAV while the vehicle is in operation; andcommunicating, via a communication unit of the vehicle, with the UAV viaan indirect communication method.

The vehicle may be configured to permit the UAV to take off from thevehicle and/or land on the vehicle while the vehicle is in operation.The vehicle may include a roof mount configured to permit the UAV totake off and/or land from a roof of the vehicle.

The indirect communication method may comprise communication via amobile phone network. The mobile phone network may be a 3G or 4Gnetwork. The indirect communication method may utilize one or moreintermediary devices in communications between the vehicle and the UAV.The indirect communication may occur while the vehicle is in motion.

The method may further comprise determining, with aid of a processor, toswitch to a direct communication method; and communicating with the UAVvia the direct communication method. The method may further comprisecommunicating with the UAV via a direct communication method with aid ofa directional antenna on the vehicle. The directional antenna may alsofunction as a cover for the UAV when the UAV is coupled to the vehicle.

Additional aspects of the invention may provide a method for providingcommunications between an unmanned aerial vehicle (UAV) and a vehicle,said method comprising: providing a vehicle capable of communicating aUAV while the vehicle is in operation; calculating, with aid of aprocessor, an angle at which to position a directional antenna of thevehicle; and communicating, via the directional antenna of the vehicle,with the UAV via a direct communication method.

The vehicle may be configured to permit the UAV to take off from thevehicle and/or land on the vehicle while the vehicle is in operation.The angle at which to position a directional antenna may be calculatedbased on a position of the UAV relative to the vehicle. The position mayinclude relative altitude and relative lateral position. The directionalantenna may be formed from a cover for the UAV when the UAV is coupledto the vehicle. The method may further comprise determining, with aid ofa processor, to switch to an indirect communication method; andcommunicating with the UAV via the indirect communication method.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of aerial vehicles,such as unmanned aerial vehicles, may apply to and be used for anymovable object, such as any vehicle. Additionally, the systems, devices,and methods disclosed herein in the context of aerial motion (e.g.,flight) may also be applied in the context of other types of motion,such as movement on the ground or on water, underwater motion, or motionin space.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 shows an example of an unmanned aerial vehicle (UAV) that may beassociated with a vehicle, that may take off from the vehicle inaccordance with an embodiment of the invention.

FIG. 2 shows an example of a UAV that may land on a vehicle, inaccordance with an embodiment of the invention.

FIG. 3 shows an example of implementing obstacle avoidance when the UAVis trying to land on a vehicle in accordance with an embodiment of theinvention.

FIG. 4 shows an example of implementing obstacle avoidance when the UAVis trying to take off from a vehicle in accordance with an embodiment ofthe invention.

FIG. 5 shows an example of a mechanical connection between a UAV and avehicle in accordance with an embodiment of the invention.

FIG. 6 shows an example of a functional connection between a UAV and avehicle in accordance with an embodiment of the invention.

FIG. 7 shows an example of a UAV docked to a vehicle within a cover inaccordance with an embodiment of the invention.

FIG. 8 shows an example of a UAV docked within a vehicle in accordancewith an embodiment of the invention.

FIG. 9 shows a view of multiple vehicles that may be discerned by a UAVin accordance with an embodiment of the invention.

FIG. 10 shows an example of a UAV in communication with an associatedvehicle in accordance with embodiments of the invention.

FIG. 11 shows an example of multiple UAVs in communication with multiplevehicles in accordance with an embodiment of the invention.

FIG. 12A shows an example of an antenna on a vehicle that may be incommunication with a UAV in accordance with embodiments of theinvention.

FIG. 12B shows an example of a vertical relationship between a vehicleand a UAV for calculating a vertical angle of a directional antenna, inaccordance with an embodiment of the invention.

FIG. 12C shows an example of a horizontal relationship between a vehicleand a UAV for calculating a horizontal angle of a directional antenna,in accordance with an embodiment of the invention.

FIG. 13 shows examples of direct and indirect communications between aUAV and a vehicle in accordance with an embodiment of the invention.

FIG. 14 shows an example of communication flow in accordance with anembodiment of the invention.

FIG. 15 shows an example of a UAV control mechanism in accordance withan embodiment of the invention.

FIG. 16 illustrates an unmanned aerial vehicle, in accordance with anembodiment of the invention.

FIG. 17 illustrates a movable object including a carrier and a payload,in accordance with an embodiment of the invention.

FIG. 18 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with an embodiment ofthe invention.

DETAILED DESCRIPTION OF THE INVENTION

The systems, devices, and methods of the present invention provideinteraction between an unmanned aerial vehicle (UAV) and a vehicle.Description of the UAV may be applied to any other type of unmannedvehicle, or any other type of movable object. Description of the vehiclemay apply to land-bound, underground, underwater, water surface, aerial,or space-based vehicles. The interaction between the UAV and the vehiclemay include docking between the UAV and the vehicle. Communications mayoccur between the UAV and the vehicle while the UAV is separated fromthe vehicle and/or while the UAV is connected to the vehicle.

An individual on board a vehicle may wish to gather information that theindividual may not be able to gather while on board the vehicle. In someinstances, the vehicle may be in operation and/or in motion while theindividual wishes to gather information. A UAV may be able to gatherinformation may not be readily accessed while on board the vehicle. Forexample, a driver or passenger of a vehicle may wish to see what liesahead, but their vision may be blocked by other vehicles, naturalfeatures, structures, or other types of obstructions. A UAV may take offfrom the vehicle and fly overhead. The UAV may also optionally flyforward, or in any pattern relative to the vehicle. The UAV may have acamera that may stream images down to the vehicle in real time. Thus,the driver or passenger of the vehicle may be able to see what liesahead or collect any other information about the surroundingenvironment.

The UAV may be capable of taking off and landing from the vehicle. Thismay occur while the vehicle is stationary or in motion. The UAV may beable to discern its companion vehicle from other vehicles. This may beuseful in situations where multiple vehicles may be provided in a smallarea, such as a traffic jam or urban driving. The UAV thus may be ableto ensure it lands on the correct vehicle. The UAV may have someobstacle avoidance built in. The UAV may be able to detect and avoidobstacles while taking off and/or landing. The UAV may be able to detectand avoid obstacles while in flight. The UAV may be manually controlledby a user on board the vehicle. In other instances, the UAV may have anautonomous or semi-autonomous flight mode. The user may be able totoggle between different flight modes, or different flight modes maykick in for different situations.

The UAV may form a physical connection with the vehicle while dockedwith the vehicle. The physical connection may keep the UAV connected tothe vehicle while the vehicle is in motion. A cover may optionally beprovided to cover and/or protect the UAV when the UAV is docked with thevehicle. Electrical connections and/or data connections may be formedbetween the UAV and the vehicle while the UAV is docked with thevehicle.

Communications may be provided between the UAV and the vehicle. Thecommunications may be provided while the UAV is docked with the vehicleand while the UAV is in flight. Direct and/or indirect modes ofcommunications may be used. The UAV may be controlled using user inputcomponents that may be part of the vehicle. Data from the UAV may streamto a monitor within the vehicle.

FIG. 1 shows an example of an unmanned aerial vehicle (UAV) that may beassociated with a vehicle, that may take off from the vehicle inaccordance with an embodiment of the invention. A vehicle docking system100 may be provided in accordance with an embodiment of the invention.The docking system may include a UAV 110 and a vehicle 120. The vehiclemay have one or more propulsion units 130.

Any description herein of a UAV 110 may apply to any type of movableobject. The description of a UAV may apply to any type of unmannedmovable object (e.g., which may traverse the air, land, water, orspace). The UAV may be capable of responding to commands from a remotecontroller. The remote controller may be not connected to the UAV. Insome instances, the UAV may be capable of operating autonomously orsemi-autonomously. The UAV may be capable of following a set ofpre-programmed instructions. In some instances, the UAV may operatesemi-autonomously by responding to one or more commands from a remotecontroller while otherwise operating autonomously.

The UAV 110 may be an aerial vehicle. The UAV may have one or morepropulsion units that may permit the UAV to move about in the air. Theone or more propulsion units may enable the UAV to move about one ormore, two or more, three or more, four or more, five or more, six ormore degrees of freedom. In some instances, the UAV may be able torotate about one, two, three or more axes of rotation. The axes ofrotation may be orthogonal to one another. The axes of rotation mayremain orthogonal to one another throughout the course of the UAV'sflight. The axes of rotation may include a pitch axis, roll axis, and/oryaw axis. The UAV may be able to move along one or more dimensions. Forexample, the UAV may be able to move upwards due to the lift generatedby one or more rotors. In some instances, the UAV may be capable ofmoving along a Z axis (which may be up relative to the UAV orientation),an X axis, and/or a Y axis (which may be lateral). The UAV may becapable of moving along one, two, or three axes that may be orthogonalto one another.

The UAV 110 may be a rotorcraft. In some instances, the UAV may be amulti-rotor craft that may include a plurality of rotors. The pluralityor rotors may be capable of rotating to generate lift for the UAV. Therotors may be propulsion units that may enable the UAV to move aboutfreely through the air. The rotors may rotate at the same rate and/ormay generate the same amount of lift or thrust. The rotors mayoptionally rotate at varying rates, which may generate different amountsof lift or thrust and/or permit the UAV to rotate. In some instances,one, two, three, four, five, six, seven, eight, nine, ten, or morerotors may be provided on a UAV. The rotors may be arranged so thattheir axes of rotation are parallel to one another. In some instances,the rotors may have axes of rotation that are at any angle relative toone another, which may affect the motion of the UAV.

A vertical position and/or velocity of the UAV may be controlled bymaintaining and/or adjusting output to one or more propulsion units ofthe UAV. For example, increasing the speed of rotation of one or morerotors of the UAV may aid in causing the UAV to increase in altitude orincrease in altitude at a faster rate. Increasing the speed of rotationof the one or more rotors may increase the thrust of the rotors.Decreasing the speed of rotation of one or more rotors of the UAV mayaid in causing the UAV to decrease in altitude or decrease in altitudeat a faster rate. Decreasing the speed of rotation of the one or morerotors may decrease the thrust of the one or more rotors. When a UAV istaking off, such as from a vehicle, the output may be provided to thepropulsion units may be increased from its previous landed state. Whenthe UAV is landing, such as on a vehicle, the output provided to thepropulsion units may be decreased from its previous flight state.

A lateral position and/or velocity of the UAV may be controlled bymaintaining and/or adjusting output to one or more propulsion units ofthe UAV. The attitude of the UAV and the speed of rotation of one ormore rotors of the UAV may affect the lateral movement of the UAV. Forexample, the UAV may be tilted in a particular direction to move in thatdirection, and the speed of the rotors of the UAV may affect the speedof the lateral movement and/or trajectory of movement. Lateral positionand/or velocity of the UAV may be controlled by varying or maintainingthe speed of rotation of one or more rotors of the UAV.

The UAV 110 may be of small dimensions. The UAV may be capable of beinglifted and/or carried by a human. The UAV may be capable of beingcarried by a human in one hand. The UAV may be capable of fitting on topof a vehicle or within a vehicle 120. The UAV may be capable of beingcarried by a roof of a vehicle. The UAV may be capable of being carriedon top of a trunk of a vehicle. The UAV may be capable of being carriedby a front hood of the vehicle. The UAV dimensions may optionally notexceed the width of the vehicle. The UAV dimensions may optionally notexceed the length of the vehicle.

The UAV 110 may have a greatest dimension (e.g., length, width, height,diagonal, diameter) of no more than 100 cm. In some instances, thegreatest dimension may be less than or equal to 1 mm, 5 mm, 1 cm, 3 cm,5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, 100cm, 110 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190cm, 200 cm, 220 cm, 250 cm, or 300 cm. Optionally, the greatestdimension of the UAV may be greater than or equal to any of the valuesdescribed herein. The UAV may have a greatest dimension falling within arange between any two of the values described herein.

The UAV 110 may be lightweight. For example, the UAV may weigh less thanor equal to 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g, 3 g, 5g, 7 g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50 g, 60g, 70 h, 80 h, 90 g, 100 g, 120 g, 150 g, 200 g, 250 g, 300 g, 350 g,400 g, 450 g, 500 g, 600 g, 700 g, 800 g, 900 g, 1 kg, 1.1 kg, 1.2 kg,1.3 kg, 1.4 kg, 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg, 4kg, 4.5 kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg, 8.5 kg, 9kg, 9.5 kg, 10 kg, 11 kg, 12 kg, 13 kg, 14 kg, 15 kg, 17 kg, or 20 kg.The UAV may have a weight greater than or equal to any of the valuesdescribed herein. The UAV may have a weight falling within a rangebetween any two of the values described herein.

The UAV 110 may be capable of interacting with a vehicle 120. Thedescription of a vehicle may apply to any type of movable object (e.g.,which may traverse the air, land, water, or space). The vehicle may beoperated by an individual that is on-board the vehicle. The vehicle maybe operated by an individual that is within the vehicle. The individualmay be contacting the vehicle or local to the vehicle. Alternatively,the vehicle may be capable of responding to commands from a remotecontroller. The remote controller may be not connected to the vehicle.In some instances, the vehicle may be capable of operating autonomouslyor semi-autonomously. The vehicle may be capable of following a set ofpre-programmed instructions.

The vehicle 120 may have one or more propulsion units 130 that maypermit the vehicle to move about. The vehicle may traverse the land,air, water, or space. The vehicle may be capable of moving over land,underground, underwater, on the water's surface, in the air, and/or inspace. The one or more propulsion units may enable the vehicle to moveabout one or more, two or more, three or more, four or more, five ormore, six or more degrees of freedom. The one or more propulsion unitsmay permit the vehicle to move within any media. For example, thepropulsion units may include wheels that may permit the vehicle to moveoverland. Other examples of propulsion units may include, but are notlimited to treads, propellers, rotors, jets, legs, or any other type ofpropulsion unit. The propulsion units may enable the vehicle to moveover a single type or multiple types of terrain. The propulsion unitsmay permit the vehicle to move up inclines or down slopes. The vehiclemay be self-propelled.

The vehicle may have an engine, battery, or any type of driver. In someinstances, a vehicle may have an internal combustion engine. The vehiclemay run on a fuel and/or on electricity. The propulsion units of thevehicle may be driven by the engine, battery, or other type of driver.

The vehicle 120 may be any type of movable object. Examples of vehiclesmay include, but are not limited to cars, trucks, semis, buses, vans,SUVs, mini-vans, tanks, jeeps, motorcycles, tricycles, bicycles,trolleys, trains, subways, monorails, airplanes, helicopters, blimps,hot air balloons, spacecraft, boats, ships, yachts, submarines, or anyother types of vehicles. The vehicles may be passenger vehicles. Thevehicles may be capable of holding one or more occupant therein. One ormore of the occupants may operate the vehicle. One or more of theoccupants may direct movement of the vehicle and/or other functions ofthe vehicle. For example, the occupant may be a driver of a car or otherland bound vehicle, or a pilot of a plane, ship, spacecraft, or othertype of air-based, water-based, or space-based vehicle.

The vehicle 120 may be a docking vehicle with which the UAV 110 maydock. The UAV may land on the vehicle. The UAV may take off from thevehicle. The UAV may be carried by the vehicle while the UAV is dockedto the vehicle. In some embodiments, a mechanical connection may beformed between the UAV and the vehicle while the UAV is docked to thevehicle. The vehicle may be in motion while the UAV is docked to thevehicle. The vehicle may remain stationary and/or move while the UAV isdocked to the vehicle.

The UAV 110 may dock to the vehicle 120 on any part of the vehicle. Forexample, the UAV may dock to a roof of the vehicle. The UAV may bedocked to a top surface of the vehicle. The UAV may be docked to a trunkof the vehicle. For example, the UAV may be carried on a top surface ofthe trunk of the vehicle. In another example, the UAV may be docked to afront hood of the vehicle. The UAV may be carried on a top surface ofthe front hood of the vehicle. In some instances, the UAV may dock witha trailer pulled by the vehicle, or on a side portion of the vehicle.

The UAV 110 may take off from the vehicle 120. In some instances, theUAV may take off while the vehicle is in operation. The UAV may take offwhile the vehicle is powered on and/or an individual is operating thevehicle. The UAV may take off while the vehicle engine is running. TheUAV may take off while the vehicle is stationary and/or while thevehicle is in motion. In taking off, the UAV may ascend relative to thevehicle. For example, if the UAV is a multi-rotor craft, one or morerotors of the UAV may rotate to generate lift for the UAV. The UAV maygain altitude and be separated from the vehicle. In some instances,additional separation steps may occur to undock the UAV from thevehicle.

The UAV may be in flight while the vehicle is driving in around. In someembodiments, the UAV may remain in communication with the vehicle. TheUAV may send information to the vehicle. The vehicle may or may not sendinformation to the UAV while the UAV is in flight.

FIG. 2 shows an example of a UAV that may land on a vehicle, inaccordance with an embodiment of the invention. A vehicle docking system200 may be provided in accordance with an embodiment of the invention.The docking system may include a UAV 210 and a vehicle 220.

The UAV 210 may be in flight and separated from a vehicle 220. The UAVmay be capable of landing on an associated docking vehicle. The UAV maydock with the vehicle upon landing. Once landed, the UAV may be carriedby the vehicle.

The vehicle 220 may be moving at a velocity V_(VEHICLE). This mayinclude a forward motion of the vehicle and/or backward motion of thevehicle. This may or may not include an upward or downward motion of thevehicle. The vehicle may be capable of traversing in a straight lineand/or making turns. The vehicle may or may not be capable of movingsideways without altering the orientation of the vehicle. The vehiclemay be moving at any velocity. In some instances, V_(VEHICLE) may begreater than zero. In other instances, V_(VEHICLE) may be zero. Thevelocity and/or direction of motion of the vehicle may change.V_(VEHICLE) may refer to a lateral velocity of the vehicle. When avehicle is traveling over a surface, such as land or water, the vehiclemay travel at a lateral velocity relative to the surface.

The UAV 210 that may be attempting to land on the vehicle may betraveling a velocity V_(UAV). In some instances, V_(UAV) may have alateral component V_(UAV_X) and a vertical component V_(UAV_Y). In someinstances, the lateral component of the UAV velocity V_(UAV_X) may beparallel to a lateral component of the velocity of the vehicleV_(VEHICLE). Thus, while the UAV is landing on a vehicle, it may followa similar lateral path to the vehicle. It may travel in substantiallythe same direction as the vehicle. In some instances, the difference indirection between the UAV and the vehicle may be less than or equal toabout 0 degrees, 1 degree, 2 degrees, 3 degrees, 4 degrees, 5 degrees, 7degrees, 10 degrees, 12 degrees, 15 degrees, or 20 degrees when the UAVis close to landing on the vehicle. The UAV may also travel at roughlythe same lateral speed as the vehicle. In some instances, the differencein lateral speed between the UAV and the vehicle may be less than orequal to about 0 mph, 1 mph, 2 mph, 3 mph, 5 mph, 7 mph, 10 mph, 12 mph,15 mph, or 20 mph while the UAV is close to landing on the vehicle. Whenbringing the UAV to land on the vehicle, the UAV may be brought to apredetermined lateral velocity range relative to the vehicle. Thepredetermined range may be any of the values described herein. Thepredetermined range may permit couple of the UAV with the vehiclewithout damaging the UAV and/or the vehicle. The difference in lateralspeed between the UAV and the vehicle may be less than or equal to about0%, 1%, 2%, 3%, 4%, 5%, 6%, 7%, 8%, 9%, 10%, 12% or 15% of the vehiclespeed while the UAV is close to landing on the vehicle. In someinstances, the UAV may be close to landing on the vehicle if it is ontrack to land within less than or equal to 60 seconds, 45 seconds, 30seconds, 25 seconds, 20 seconds, 15 seconds, 10 seconds, 5 seconds, 3seconds, 2 seconds, or 1 second.

In some embodiments, the lateral velocity of the vehicle may bedetermined. A target lateral velocity may be calculated for the UAV thatmay fall within the predetermined range. The target lateral velocity maybe calculated on board the UAV or on board the vehicle. One or morepropulsion units of the UAV may be controlled to cause the UAV to fly atthe target velocity and/or within the predetermined range.

The vertical component of the UAV velocity V_(UAV_Y) may include adescent of the UAV to land on a top surface of the vehicle. In someinstances, the UAV may be descending from a higher altitude to land onthe vehicle. In alternate embodiments, the UAV may come up to thevehicle landing spot from the same altitude and/or from a loweraltitude. For example, the UAV may fly behind the vehicle at about thesame altitude, and then increase its lateral velocity to be greater thanthe lateral velocity of the vehicle. Then the UAV may swoop in from theback to land on the vehicle. The vertical component may have a value ofzero, or may have a positive or negative value. In some instances, thevertical component of the UAV velocity may be low to permit the UAV toland gently on the vehicle. In some embodiments, the vertical componentmay be less than or equal to 10 mph, 9 mph, 8 mph, 7 mph, 6 mph, 5 mph,4 mph, 3 mph, 2 mph, or 1 mph in the positive or negative direction,when the UAV is close to landing on the vehicle.

A method to land a UAV on the vehicle may be provided in accordance withan embodiment of the invention. A command signal may be generated todrive one or more propulsion units of the UAV, thereby controlling thepositioning of the UAV relative to the vehicle. The vehicle may be inoperation and/or in motion while the UAV is landing. The UAV may bemoving along a travel trajectory in line with the companion movingvehicle. The command signal that drives the one or more propulsion unitsmay be generated on-board the UAV. Alternatively, the command signal maybe generated on-board the vehicle. In another example, the commandsignal may be generated at any other device, such as an externalcomputer or server.

The command signal may be generated in response to data about the motionof the vehicle and/or the UAV. For example, information about theposition and/or velocity of the vehicle may be provided. Informationabout the direction of travel of the vehicle may be provided.Information about the position, orientation and/or velocity of the UAVmay be provided. In some instances, the command signal may be generatedbased on this data with aid of one or more processors. In one example,the command signal may be generated on-board the UAV. The UAV mayreceive information pertaining to the position, velocity, and/ordirection of the vehicle. The UAV may use the vehicle information alongwith UAV position/orientation/velocity information to generate thecommand signal. In another example, the command signal may be generatedon-board the vehicle. The vehicle may receive information pertaining tothe position, orientation, and/or velocity of the UAV. The vehicle mayuse the UAV information along with the vehicle information to generatethe command signal, which may be sent to the UAV. In an additionalexample an external device may receive information pertaining to thevehicle and the UAV and may generate the command signal, which may betransmitted to the UAV. The processors used to generate the commandsignal may be provided on board the UAV, on board the vehicle, or onboard an external device. The command signal may be generated inresponse to a command to the UAV to initiate the landing sequence. Thecommand may be provided from the vehicle. In some instances, the commandto land may be generated on board the UAV when an error state isdetected. For example, if one or more components are malfunctioning, ora battery charge is getting dangerously low, the UAV may automaticallyinitiate a landing sequence.

In one example, a vehicle may transmit its coordinates to the UAV inreal time. The vehicle may have a location unit that may aid indetermining a location of the vehicle. In one example, the location unitmay utilize GPS. The vehicle may transmit its GPS coordinates to theUAV. When the UAV wants to land it may fly near the vehicle's GPScoordinates. In some instances, there may be some error to the GPScoordinates so additional aids may be provided for landing the UAV onthe vehicle. For example, a marker may be provided as described ingreater detail elsewhere herein. The marker may be a vision based markerwhich will utilize a camera on board the UAV to provide more accuratepositioning. The marker may be any other type of marker as describedelsewhere herein.

The UAV may be capable of landing on the vehicle while the vehicle is inmotion. The UAV may be capable of landing on the vehicle even if thevehicle is not in traveling in a straight line. For example, the UAV maybe capable of landing on the vehicle even if the vehicle is making asharp turn or moving along a wiggly path. The UAV may be capable oflanding on the vehicle while the vehicle is turning about at least 5degrees, 10 degrees, 15 degrees, 20 degrees, 30 degrees, 45 degrees, 60degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees,150 degrees, 165 degrees, 180 degrees, 270 degrees, or 360 degrees.

The UAV may be capable of landing on the vehicle when the vehicle istraveling at a variety of speeds. In some instances, the UAV may becapable of landing on a vehicle when it is traveling at a speed that isgreater than about 5 mph, 10 mph, 15 mph, 20 mph, 25 mph, 30 mph, 35mph, 40 mph, 45 mph, 50 mph, 55 mph, 60 mph, 65 mph, 70 mph, 80 mph, 90mph, or 100 mph. The UAV may be capable of landing on the vehicle whenit is traveling at less than any of the speeds mentioned herein. The UAVmay be capable of landing on a vehicle when it is traveling at a speedwithin a range between any two of the speeds mentioned herein.

The UAV may land on the vehicle and may dock with the vehicle. The UAVmay dock with the vehicle by forming a connection with the vehicle. Theconnection may include a mechanical connection. The connection may besufficiently strong to prevent the UAV from falling off the vehiclewhile the vehicle is in motion. For example, the connection may besufficiently strong so that the UAV may remain on the vehicle while thevehicle is traveling at less than or equal to about 5 mph, 10 mph, 15mph, 20 mph, 25 mph, 30 mph, 35 mph, 40 mph, 45 mph, 50 mph, 55 mph, 60mph, 65 mph, 70 mph, 80 mph, 90 mph, or 100 mph. The connection may besufficiently strong to keep the UAV docked with the vehicle while thevehicle is graveling at speeds greater than any of the speeds mentionedherein, or when the vehicle is traveling at a speed within a rangebetween any two of the speeds mentioned herein.

FIG. 3 shows an example of implementing obstacle avoidance when the UAVis trying to land on a vehicle in accordance with an embodiment of theinvention. For example, a UAV 310 may attempt to land on a vehicle 320.An obstruction 330 may be provided in the flight trajectory of the UAVto land on the vehicle. The UAV may alter its flight trajectory to avoidthe obstruction.

In one example, the UAV 310 may be attempting to land on a vehicle 320.The vehicle may be in operation. In some instances, the vehicle may bemoving while the UAV is attempting to land on the vehicle. The vehiclemay be moving at a velocity V_(VEHICLE). The UAV may have a flight pathor flight trajectory to land on the vehicle. The flight path or flighttrajectory of the UAV may or may not be in line with a path ortrajectory of the vehicle. For example, the UAV and the vehicletrajectories may align. The UAV and/or the vehicle may be able to senseif there is an obstruction 330 in the UAV's path. If an obstruction isprovided in the UAV's flight path or flight trajectory to land on thevehicle, the UAV path may be altered to avoid the obstruction. Forexample, the UAV may be descending to land on the vehicle. However, ifan obstruction is in the way, the UAV altitude may be increased to avoidthe obstruction. The UAV may have a new flight trajectory (e.g., alongV_(UAV)) to avoid the obstruction.

In some embodiments, the UAV and/or vehicle may be able to sense anobstruction in the vehicle's trajectory, or an aligned travel trajectoryfor the UAV and vehicle. Similarly, the UAV path may be altered to avoida detected obstruction. A path or trajectory may have any shape. In someinstances, a path or trajectory may be a straight line (e.g., a straightline extending directly in front of the UAV and/or vehicle) or may be acurved line, or have any other shape.

An obstruction 330 may be any item that may be in the UAV's predictedflight trajectory or path. The obstruction may be an item that woulddamage the UAV if the UAV were to collide with the obstruction. Theobstruction may be a static obstruction or a dynamic obstruction. Forexample, the static obstruction may remain stationary, while a dynamicobstruction may be moving. Examples of static obstructions may include,but are not limited to, buildings, signs, poles, bridges, tunnels,towers, ceilings, roofs, power lines, trees, fences, plants, lights,parked vehicles, or any other type of obstruction. Examples of staticobstructions may include, but are not limited to, other UAVs, othermovable objects (e.g., moving vehicles), humans, animals, kites, or anyother type of obstruction that may move. For dynamic obstructions, thepredicted path or trajectory of the dynamic obstruction may be assessedto determine whether a collision between the dynamic obstruction and theUAV along the UAV's predicted flight trajectory or path is likely orimminent.

The obstruction may be sensed by the UAV, the vehicle, any other object,or any combination thereof. The UAV, vehicle, and/or any other objectmay be in communication with one another and may be able to shareinformation about detected obstructions. For example, one or moresensors of a UAV may be used to detect an obstruction. The UAV may thenalter the UAV's course to avoid the obstruction. In another example, thevehicle may use one or more sensors of the vehicle to detect theobstruction. The vehicle may send information to the UAV which may causethe UAV to alter the UAV's course to avoid the obstruction. The vehiclemay send a command to the UAV to alter the UAV's course. In anotherexample, the vehicle may send information to the UAV about the detectedobstruction and the UAV may make the determination whether to alter theUAV's course and/or how to alter the course. The UAV may considerinformation from the vehicle alone or in combination with sensedinformation from the UAV or any other object. In some instances, otherobjects, such as the obstruction itself, may provide one or more signalsindicative of the presence of the obstruction.

Examples of sensors that may be used to detect an obstruction mayinclude vision sensors, heat sensors, ultrasonic sensors, lidar, GPS,sonar, radar, vibration sensors, magnetic sensors, or any other type ofsensors as described elsewhere herein. Any combination of sensors may beused. Examples of signals indicative of the presence of the obstructionsmay include lights, colors, images, words, sounds, vibrations, magneticsignals, electric fields, heat patterns, wireless signals, or any othertypes of signals.

In some implementations, the obstruction may be detected based oninformation known about the environment within which the vehicle and/orthe UAV are traversing. For example, geographic information may beaccessed. Examples of geographic information may include local mapinformation. In some instances, topographic map information may beprovided, or map information about local structures, or other types ofobjects that may be static obstructions. For example, if the presence ofa tunnel is known and the location of the vehicle and/or UAV relative tothe tunnel is known, it may be determined whether the tunnel would be anobstruction to the UAV landing on the vehicle.

A method of landing a UAV onto a companion moving vehicle may includegenerating a command signal to drive one or more propulsion units of theUAV, thereby controlling positioning of the UAV relative to the movingvehicle. The UAV may be moving along a travel trajectory in line withthe companion moving vehicle. An obstruction along the travel trajectorymay be detected. The UAV's travel trajectory may be altered to avoid theobstruction.

The UAV travel trajectory may be altered in accordance with a set ofpre-programmed instructions. For example, a new travel trajectory may becalculated that may alter the UAV travel trajectory enough to avoid theobstruction, but keep the UAV traveling in a similar direction to themotion of the vehicle. In one example, the altitude of the UAV may bealtered to avoid the obstruction while the lateral trajectory and/orvelocity may be kept substantially the same to be in line with themotion of the vehicle. In other instances, it may be necessary to alterthe lateral trajectory of the UAV to avoid the obstacle. The trajectorymay be altered to provide little disruption to the flight of the UAVwhile still avoiding the obstacle. Once the obstacle has been cleared,the UAV may be brought to land on the vehicle. For example, if a UAV'saltitude is increased to avoid a tunnel, the UAV may be brought to landon the vehicle once the vehicle and UAV have cleared the tunnel.

When a landing sequence is initiated between the UAV and the vehicle,the UAV may automatically land without requiring human control. Forexample, a user may select an option for the UAV to land. An automatedlanding sequence may occur. The UAV may be capable of landingautonomously on the vehicle. The obstacle avoidance may alsoautonomously occur. In some instances, a user may control the UAV whilethe UAV is landing on the vehicle. For example, the user may manuallycontrol the UAV while the UAV is landing with aid of a remotecontroller. The user may be an operator of a vehicle, a passenger of thevehicle, or any other individual. The user may manually control the UAVto perform obstacle avoidance and/or autonomous controls may take overto perform obstacle avoidance.

FIG. 4 shows an example of implementing obstacle avoidance when the UAVis trying to take off from a vehicle in accordance with an embodiment ofthe invention. For example, a UAV 410 may attempt to take off from avehicle 420. An obstruction 430 may be provided in the flight trajectoryof the UAV to take off from the vehicle. The UAV may delay taking offuntil the obstruction is cleared, or may alter its flight trajectory toavoid the obstruction.

In one example, the UAV 410 may be attempting to take off from a vehicle420. The vehicle may be in operation. In some instances, the vehicle maybe moving while the UAV is attempting to take off from the vehicle. Thevehicle may be moving at a velocity V_(VEHICLE). The UAV may have aflight path or flight trajectory to take off from the vehicle. The UAVand/or the vehicle may be able to sense if there is an obstruction 430in the UAV's path. If an obstruction is provided in the UAV's flightpath or flight trajectory to take off from the vehicle, the UAV may waitto take off until the obstruction has been cleared. In another example,the UAV may have already taken off or about to take off, and the UAVpath may be altered to avoid the obstruction. For example, the UAV maybe ascending to take off from the vehicle. However, if an obstruction isin the way, the UAV altitude may be increased faster, may be maintained,or may be decreased to avoid the obstruction. If the UAV had not yettaken off, the UAV may remain on the vehicle. If the UAV had taken off,the UAV may be brought back down to land on the vehicle until theobstruction is cleared. The UAV may have a new flight trajectory (e.g.,along V_(UAV)) to avoid the obstruction.

An obstruction 430 may be any item that may be in the UAV's predictedflight trajectory or path. The obstruction may be an item that woulddamage the UAV if the UAV were to collide with the obstruction. Aspreviously described, an obstruction may be a static obstruction or adynamic obstruction. For example, the static obstruction may remainstationary, while a dynamic obstruction may be moving. For dynamicobstructions, the predicted path or trajectory of the dynamicobstruction may be assessed to determine whether a collision between thedynamic obstruction and the UAV along the UAV's predicted flighttrajectory or path is likely or imminent. The motion of the vehicle maybe taken into account. For example, if the UAV is riding on a vehicle,the trajectory of the UAV when taking off may take the motion of thevehicle into account for determining UAV flight trajectory.

The obstruction may be sensed by the UAV, the vehicle, any other object,or any combination thereof. The UAV, vehicle, and/or any other objectmay be in communication with one another and may be able to shareinformation about detected obstructions. For example, one or moresensors of a UAV may be used to detect an obstruction. The UAV may thenalter the UAV's course, or wait to take off to avoid the obstruction. Inanother example, the vehicle may use one or more sensors of the vehicleto detect the obstruction. The vehicle may send information to the UAVwhich may cause the UAV to alter the UAV's course or wait to take off toavoid the obstruction. The vehicle may send a command to the UAV toalter the UAV's course or wait to take off. In another example, thevehicle may send information to the UAV about the detected obstructionand the UAV may make the determination whether to alter the UAV's courseand/or how to alter the course, or whether to wait to take off. The UAVmay consider information from the vehicle alone or in combination withsensed information from the UAV or any other object. In some instances,other objects, such as the obstruction itself, may provide one or moresignals indicative of the presence of the obstruction.

In some implementations, the obstruction may be detected based oninformation known about the environment within which the vehicle and/orthe UAV are traversing. For example, geographic information may beaccessed. Examples of geographic information may include local mapinformation. In some instances, topographic map information may beprovided, or map information about local structures, or other types ofobjects that may be static obstructions. For example, if the presence ofa tunnel is known and the location of the vehicle and/or UAV relative toa large tree is known, it may be determined whether the tree would be anobstruction to the UAV taking off from the vehicle.

A method of having a UAV take off from a companion moving vehicle mayinclude generating a command signal to drive one or more propulsionunits of the UAV, thereby controlling positioning of the UAV relative tothe moving vehicle. The UAV may be moving along a travel trajectory inline with the companion moving vehicle. The UAV may have a projectedtravel trajectory to take off from the moving vehicle. An obstructionalong the travel trajectory may be detected. The UAV's travel trajectorymay be altered to avoid the obstruction, the UAV may remain on avehicle, or the UAV may land back on a vehicle. Altering the UAV'stravel trajectory may include having the UAV remain on the vehicleand/or land back on the vehicle.

The UAV travel trajectory may be altered in accordance with a set ofpre-programmed instructions. For example, a new travel trajectory may becalculated that may alter the UAV travel trajectory enough to avoid theobstruction, accommodating for the UAV traveling in the same directionto the motion of the vehicle while the UAV is still riding on thevehicle. In one example, the altitude of the UAV may be altered to avoidthe obstruction while the lateral trajectory and/or velocity may be keptsubstantially the same to be in line with the motion of the vehicle. Inother instances, the lateral trajectory of the UAV may be altered toavoid the obstacle. The trajectory may be altered to provide littledisruption to the flight of the UAV while still avoiding the obstacle.Once the obstacle has been cleared, the UAV take off and/or fly freelyin response to pre-programmed instructions or controls from a user. Forexample, if a UAV's altitude is decreased to avoid a tree, the UAValtitude may be increased once the tree has been passed, and the UAV maybe able to fly onward to perform its mission.

When a take-off sequence is initiated between the UAV and the vehicle,the UAV may automatically take off without requiring human control. Forexample, a user may select an option for a UAV to take off. An automatedtake-off sequence may occur. The UAV may be capable of taking offautonomously from the vehicle. The obstacle avoidance may alsoautonomously occur. In some instances, a user may control the UAV whilethe UAV is taking off from the vehicle. For example, the user maymanually control the UAV while the UAV is taking off aid of a remotecontroller. The user may be an operator of a vehicle, a passenger of thevehicle, or any other individual. The user may manually control the UAVto perform obstacle avoidance and/or autonomous controls may take overto perform obstacle avoidance.

Obstacle avoidance may occur while the UAV is in flight. Obstacleavoidance may occur while the UAV takes off from a vehicle, while theUAV lands on a vehicle, and at any point in between while the UAV is inflight. For example, a UAV may be flying along a flight path relative tothe vehicle. The UAV may be flying along a flight path in directresponse to manual remote commands from a user. The UAV may be flyingalong a flight path relative to a vehicle in accordance with apredetermined flight path. 1001311A projected flight path of a UAV maybe determined. The projected flight path may include a flight path forthe UAV to land on the vehicle, or to take off from the vehicle aspreviously described. The projected flight path may include a flightpath for the UAV to travel relative to the vehicle, such as thosedescribed elsewhere herein. The projected flight path may be for the UAVto travel directly ahead of the vehicle. The projected flight path maybe for the UAV to travel a predetermined distance ahead of the vehicle.The projected flight path may include a flight path for the UAV totravel within a predetermined range of the vehicle. When an obstructionis detected in the UAV's flight path, the UAV's flight path may bealtered in response. The UAV's altitude and/or latitude may be alteredto avoid the obstruction. A processor on board the UAV may determine thedirection and/or speed for the UAV to fly to avoid the obstruction. Oncethe obstruction has been cleared, the UAV flight path may be broughtback into the projected UAV flight path or travel trajectory.

FIG. 5 shows an example of a mechanical connection between a UAV and avehicle in accordance with an embodiment of the invention. A UAV 510 maybe docked with a vehicle 520. A connection may be formed with a dockingcomponent of the UAV 530 and a docking component of the vehicle 540.

The UAV 510 may be docked to a companion vehicle 520. The companionvehicle may be a vehicle of any type. The companion vehicle may becapable of motion. The companion vehicle may be self-propelled. In someinstances, the companion vehicle may be capable of traversing one ormore type of media (e.g., land, water, air, space). The UAV may bedocked to the companion vehicle while the companion vehicle is poweredon or powered off. The UAV may be docked to the companion vehicle whilethe companion vehicle is in operation. The UAV may be docked to thecompanion vehicle while the companion vehicle is stationary or is inmotion. The UAV may be capable of remaining docked to the companionvehicle while the companion vehicle is traveling at any of the speedsmentioned elsewhere herein. The UAV may be capable of remaining dockedto the companion vehicle while the companion vehicle is traveling in astraight line, making turns, or rotating about any degree, such as anydegree measurements described elsewhere herein. The UAV may be capableof remaining docked to the vehicle while experiencing windy conditions.For example, the UAV may be capable of remaining docked to the vehiclewhen the wind speeds reach any of the speeds mentioned elsewhere herein(e.g., about 5 mph, 10 mph, 15 mph, 20 mph, 25 mph, 30 mph, 35 mph, 40mph, 45 mph, 50 mph, 55 mph, 60 mph, 65 mph, 70 mph, 80 mph, 90 mph, or100 mph).

The UAV 510 may be docked with the companion vehicle 520 on any portionof the companion vehicle. For example, the UAV may dock with thecompanion vehicle on a top surface of the vehicle, front surface of thevehicle, rear surface of the vehicle, side surface of the vehicle,interior portion of the vehicle, or an attachment to the vehicle. TheUAV may dock with the vehicle on a roof of the vehicle, on or in theinterior cabin of the vehicle, on or in the trunk of the vehicle, or onor in the front hood of the vehicle. The UAV may dock with a carriagepulled by the vehicle, or a sidecar type attachment to the vehicle. TheUAV may be docked to an interior portion of the vehicle or an exteriorsurface of the vehicle.

The UAV 510 may form a connection with the companion vehicle 520 whilethe UAV is docked to the companion vehicle. The connection may be amechanical connection. The mechanical connection may be capable ofkeeping the UAV affixed to the vehicle as described elsewhere herein,while the vehicle is in motion. The mechanical connection may limit themovement of the UAV about one or more directions. For example, themechanical connection may prevent the UAV from moving front to back,side to side, and/or up and down relative to the vehicle. The mechanicalconnection may alternatively only permit a limited range of movementabout one or more of the directions described. The mechanical connectionmay permit the UAV from rotating about one or more axes while docked tothe vehicle. Alternatively, the mechanical connection may permit the UAVto move about one or more axes in a limited fashion. 1001361A mechanicalconnection may be formed between a portion of the UAV 530 and a portionof a docking station of the vehicle 540. The portion of the UAV that mayform the connection may be on a lower surface of the UAV. In someexamples, the portion of the UAV that may form the connection may be anextension, such as a landing stand of the UAV. The landing stand may beconfigured to bear the weight of the UAV while the UAV is not airborne.In some instances, the portion of the UAV that may form the connectionmay be a surface of a housing of the UAV, such as a bottom surface, sidesurface, or top surface of the UAV. In some instances, the housingitself may be a portion that may form the connection. In otherinstances, protrusions, indentations, or any other portion of the UAVmay be used to form the connection. The UAV may include a portion thatmay move (e.g., extend out, retract in) relative to the UAV to form theconnection. In one example, a connection member of the UAV may be in aretracted state while the UAV is in flight, but may extend out when theUAV is docking with the docking station of the vehicle to form theconnection.

A connection component of a vehicle 540 may form a mechanical connectionwith the UAV component 530. The components may come into direct physicalcontact with one another. The connection component of the vehicle mayprotrude from the vehicle, be indented into the vehicle, or be part ofthe vehicle surface. In some instances, the connection components of thevehicle may be retractable and/or extendible. For example, they may bein a retracted state while the UAV is separated from the vehicle, andmay extend out to receive the UAV when the UAV is docking with thevehicle.

In some instances, components of the UAV and the vehicle may interlock.In one instances, a portion of a UAV component may grip or surroundanother portion of the vehicle to form the connection, or vice versa. Insome instances, a claw or covering may come from the vehicle to capturethe UAV, or a claw or covering may come from the UAV to capture aportion of the vehicle. In some examples, a mechanical grip may beprovided between one or more of the connecting components. Themechanical grip may prevent the UAV from moving relative to the vehicleabout any of the directions described. In other embodiments, straps,hook and loop fasteners, twisting fasteners, slide and lock components,or grips may be used. Optionally, plugs, or male/female componentinterfaces may be used to keep the UAV connected to the vehicle.

In one example, a dock design for the vehicle may include a Y-shapedinverted cavity as a connection component 540 of the vehicle. They-shaped inverted cavity may tolerate errors and enable easy aircraftlanding. In some instances, the Y-shaped inverted cavity may help funnelthe connection component 530 of the UAV to a central or bottom region ofthe cavity. The Y-shaped inverted cavity may have an inverted conicalshape on top, or any other type of shape on top. The connectioncomponent of the vehicle may include guides that may help the UAV bedirected to a desired connection spot. Gravity may aid the guides indirecting the UAV. In one example, when a UAV hits a guide, and therotors are powered down so that the weight of the UAV is resting on theguide, the guide, may cause the UAV to slide down to a desired restingpoint. The UAV may then be secured and/or locked to the vehicle.Structures may be provided to secure and lock the UAV to the vehicle.

In some instances, magnetic force may be used to provide the connection.In some instances, a magnetic connection may be formed between the UAVcomponent and the vehicle component. In some instances, the magneticconnection may be used without additional mechanical support (such asthe gripping features or other features described elsewhere herein) tokeep the UAV connected to the vehicle. In other instances, the magneticconnection may be used in combination with the mechanical support, suchas features described elsewhere herein, to keep the UAV docked to thevehicle.

A connection may be automatically formed between the UAV and the vehiclewhen the UAV lands on the vehicle. Coupling may occur between the UAVand the vehicle without intervention of an operator of the vehicle. Thecoupling may occur without any intervention of any live being within oroutside the vehicle.

A UAV may dock with a docking station of the vehicle. The dockingstation may be any part of the vehicle that may connect with the UAV.The docking station may offer a mechanical connection with the UAV. Thedocking station may be integral to the vehicle. The docking station maynot be removed and/or separated from the vehicle. For example, thedocking station may include a portion of a surface of a vehicle.Optionally, a docking station may include a portion of a body panel of avehicle. In some instances, the docking station may include a roof ofthe vehicle. The docking station may include one or more connectors thatmay connect to the UAV. The docking station may include one or moreelectrical connectors that may connect to the UAV. The docking stationmay include a cover that may at least partially cover a UAV.

The docking station may be built into the vehicle. The docking stationmay be added to the vehicle at the manufacturing site. The dockingstation may be manufactured with the rest of the vehicle. In someembodiments, an existing vehicle may be retrofitted with the dockingstation. The docking station may be permanently affixed and/or attachedto the vehicle. One or more components of the docking station may beaffixed and/or attached to the vehicle and may not be designed to beremovable.

In some alternate embodiments, the docking station may be separable fromthe vehicle. The docking station may be added or attached to the vehiclein a removable manner. In some instances, one or more connectors maykeep the docking station on the vehicle. The connectors may be removedto remove the docking station from the vehicle. In some examples, clips,ties, clamps, hook and loop fasteners, magnetic components, lockingfeatures, grooves, threads, mechanical fasteners, press-fits, or anyother features may be used to attach the docking station to the vehicle.The docking station may be removed from the vehicle when not in use. Insome instances, a user may wish to drive the user's vehicle, and onlyuse the docking station in moments when a companion UAV is being takenalong.

The docking station may be attached to any portion of the vehicle asdescribed elsewhere herein. The docking station may be attached to thevehicle's roof. The docking station may be attached and/or removed fromthe vehicle's roof. Alternatively, the docking station may form the roofof the vehicle and/or include the roof of the vehicle. The dockingstation may include a roof mount. The roof mount may be configured topermit a UAV to land thereon. The roof mount may permit a UAV to takeoff therefrom.

Any description herein relating to any portion of the vehicle relatingto the UAV may be provided on a docking station of the vehicle. This mayapply to permanently attached or removable docking stations. Forexample, a mechanical connector between the UAV and the vehicle may beprovided on a docking station. An electrical connector between the UAVand the vehicle may be provided on the docking station. A data connectorbetween the UAV and the vehicle may be provided on the docking station.A controller that may perform a calculation relating to the UAV and/orvehicle may be provided on the docking station. A marker that may helpguide a UAV and/or differentiate the vehicle from other vehicles may beprovided on the docking station. A communication unit, such as awireless communication unit that may communicate with the UAV may beprovided on a docking station of the vehicle. A cover that may cover theUAV may be provided on the docking station of the UAV. Any descriptionherein of components or functions of the vehicle may apply to a dockingstation of the vehicle.

Alternatively, any description relating to any portion of the vehiclerelating to the UAV may be provided on another part of the vehicle thatneed not be the docking station of the vehicle.

A vehicle may be capable of having a single UAV land on the vehicle.Alternatively, the vehicle may be capable of having multiple UAVs landon the vehicle. Multiple UAVs may be capable of simultaneously dockingto the vehicle. In some instances, a single docking station may permitmultiple UAVs to dock with the vehicle in parallel. In other instances,multiple docking stations may be provided on a vehicle that may permitmultiple UAVs to dock with the vehicle. The multiple UAVs may all formmechanical and/or electrical connections with the vehicle when dockedwith the vehicle. The multiple UAVs may be capable of taking offsimultaneously, landing simultaneously, or in a scattered or sequentialfashion.

The same type of UAV may be capable of docking with a vehicle. Forexample, all UAVs (whether one or more many) may have a similarconfiguration.

In other instances, multiple types of UAVs may be capable of dockingwith a vehicle. The multiple types of UAVs may dock with the vehicleone-at-a-time, or multiple types of UAVs may be docked with the vehiclesimultaneously. The multiple types of UAVs may have different formfactors, shapes, and/or dimensions. The multiple types of UAVs may havedifferent flying capabilities and/or battery life. The multiple types ofUAVs may have different propulsion unit configurations. The multipletypes of UAVs may have the same or different connection interfaces. Insome examples, multiple types of UAVs may be able to dock with the sameconnection interface on the vehicle. In other instances, different typesof UAVs may dock with different connection interfaces on the vehicle. Insome instances, a connection interface on a vehicle may be adjustable toconnect with different connection interfaces on the vehicle. In someinstances, a vehicle may be synched with one or more UAVs to know thetype of UAVs that may be landing on the vehicle. When a UAV of aparticular type approaches the vehicle to land, the vehicle may maintainor adjust the connection interface as needed to permit the UAV toconnect to the vehicle. When a different type of UAV approaches thevehicle to land, the vehicle may adjust the connection interface asneeded to permit the other type of UAV to connect to the vehicle. Theconnection adjustment may include altering one or more dimensions orpositions of components of the connector. The adjustment may alsoinclude swapping out different types of connectors.

In some instances, a vehicle may be capable of accommodating one, two,three, four, five, six, seven, eight, nine, ten or more UAVs landing onthe vehicle at a time. The vehicle may accommodate the same types ofUAVs or different types of UAVs with different characteristics.

FIG. 6 shows an example of a functional connection between a UAV and avehicle in accordance with an embodiment of the invention. A UAV 610 maybe configured to dock with a vehicle 620. The UAV may include one, two,three, four, five, six, seven, eight, nine, ten, or more on-boardcomponents 630, 640. The vehicle may include one, two, three, four,five, six, seven, eight, nine, ten or more on-board components 650, 660,670 configured to interact with the UAV. A connection may be formed 680between one or more components of the UAV and one or more components ofthe vehicle.

The UAV 610 may be resting on the vehicle 620 while the UAV is dockedwith the vehicle. The vehicle may be supporting the weight of the UAV. Amechanical connection may be formed between the UAV and vehicle whilethe UAV is docked with the vehicle. The vehicle may have a dockingstation on-board configured to receive the UAV. Alternatively, the UAVmay be configured to land anywhere on the vehicle. The docking stationmay optionally permit an electrical connection 680 to be formed betweenthe UAV and the vehicle. The electrical connection may be a hard-wiredconnection. In some instances, the electrical connection may be aninductive connection. The electrical connection may be a hard-wiredconnection. An electrically conductive element of the UAV may come intocontact with an electrically conductive element of the vehicle. Theconnection may be any connection capable of permitting communicationsbetween the UAV and the vehicle. In some embodiments, the connection mayinclude an optical connector, wireless connector, wired connector, orany other type of connector. In some instances, multiple connectorsand/or types of connectors may be employed between the UAV and thevehicle. The multiple connectors may include multiple types of physicalconnectors.

For example, a docking station of the vehicle may have one or morecomponents built-in configured to connect with one or more correspondingcomponents of the UAV when the UAV has landed on the docking station.The UAV may need to land on the docking station at a particularorientation or multiple orientations of the UAV may permit the desireddocking. In some instances, one or more guide features may be providedon the docking station that may help guide the UAV to a desiredorientation. In some instances, the guide features on the dockingstation may be physical components that may direct the UAV to land inone or more particular orientations. Optionally, the guide features mayguide the UAV to a desired orientation for causing the desiredmechanical, electrical, and/or communication connections.

The UAV may include one, two, three, four, five, six, seven, eight,nine, ten, or more on-board components 630, 640. Examples of suchcomponents may include, but are not limited to an on-board controller,data storage unit, communication unit, energy storage unit, sensors,carrier payload, propulsion units, and/or any other component. Anycombination of components described herein may be provided on board theUAV.

The vehicle may include one, two, three, four, five, six, seven, eight,nine, ten or more on-board components 650, 660, 670 configured tointeract with the UAV. Examples of such components may include, but arenot limited to a controller, data storage unit, communication unit,energy storage unit, sensors, and/or any other component. Anycombination of components described herein may be provided on board thevehicle.

In one implementation, the UAV may have an on-board UAV energy storageunit and the vehicle may have an on-board vehicle energy storage unit.An energy storage unit may include one or more batteries. In someinstances, the energy storage may be a battery pack. The battery packmay include one or more batteries connected in series, in parallel, orany combination thereof. An energy storage unit of the UAV may power oneor more components of the UAV. An energy storage unit of the vehicle maypower one or more components of the vehicle. For example, the energystorage unit of the vehicle may also power lights, power door locks,power windows, and/or the radio of the vehicle. In one example, thevehicle energy storage unit may be a vehicle battery. In otherinstances, the vehicle energy storage unit may be a battery packon-board the vehicle that is not used to power any other components ofthe vehicle.

Any energy storage unit may have one or more batteries. Batteries havingany battery chemistry known or later developed in the art may be used.In some instances, batteries may be lead acid batteries, valve regulatedlead acid batteries (e.g., gel batteries, absorbed glass mat batteries),nickel-cadmium (NiCd) batteries, nickel-zinc (NiZn) batteries, nickelmetal hydride (NiMH) batteries, or lithium-ion (Li-ion) batteries. Thebattery cells may be connected in series, in parallel, or anycombination thereof. The battery cells may be packaged together as asingle unit or multiple units. The batteries may be rechargeablebatteries.

When a UAV is in flight, the UAV may be discharging the UAV energystorage unit. When the UAV is docked with the vehicle, the UAV may forma connection between the UAV energy storage unit and the vehicle energystorage unit. The vehicle energy storage unit may be used to charge theUAV energy storage unit. In one example, when the UAV lands on thevehicle, a state of charge of the UAV energy storage may be assessed.The vehicle may charge the UAV when the state of charge of the UAV hasdropped beneath a threshold value. The vehicle may charge the UAV whenthe UAV is not fully charged. In other instances, the vehicle mayautomatically charge the UAV energy storage unit regardless of state ofcharge of the UAV energy storage units. The vehicle energy storage unitmay be charged when the vehicle is in motion. The charging may occur viaa physical connection between the UAV and the vehicle. In otherinstances, inductive charging may be used. Thus, an advantage may beprovided by the system where the UAV may be charged while the vehicle ison the go and the UAV may be launched as needed. This may permit a UAVto take off from the vehicle multiple times while the vehicle istraveling. 1001601A UAV may be capable of flying for any length of timeon a full charge of the UAV's energy storage unit. For example, the UAVmay be capable of greater than or equal to about 10 hours, 9 hours, 8hours, 7 hours, 6 hours, 5 hours, 4 hours, 3.5 hours, 3 hours, 2.5hours, 2 hours, 1.5 hours, 1 hour, 55 minutes, 50 minutes, 45 minutes,40 minutes, 35 minutes, 30 minutes, 25 minutes, 20 minutes, 15 minutes,10 minutes, 5 minutes, 3 minutes, or 1 minute of continuous flight on afull charge. Alternatively, the UAV may only be capable of flying forless than any of the times mentioned herein. Alternatively, the UAV maybe capable of flight in a range of time falling between any two of thevalues described herein. The flight time may be while the UAV isperforming flying functions alone. The flight time may include the UAVtransmitting image data or other types of data from a payload or sensorswhile the UAV is in flight.

The vehicle may be capable of charging the UAV quickly. For example, theUAV may be charged from a fully discharged state to a fully chargedstation within about 8 hours, 7 hours, 6 hours, 5 hours, 4.5 hours, 4hours, 3.5 hours, 3 hours, 2.5 hours, 2 hours, 1.5 hours, 1 hour, 45minutes, 30 minutes, 20 minutes, 15 minutes, 12 minutes, 10 minutes, 8minutes, 7 minutes, 6 minutes, 5 minutes, 4 minutes, 3 minutes, 2minutes, 1 minute, 30 seconds, or 10 seconds. Alternatively, thecharging may take longer than any of the time values provided herein.The charging may occur within a range of time falling between any two ofthe values described herein. In some instances, the charging time may beless than the flight time. In other instances, the charging time may begreater or equal to the flight time. The ratio between charging time andflight time may be about 10:1, 8:1, 6:1, 5:1, 4:1, 3:1, 2:1, 1:1, 1:2,1:3, 1:4, 1:5, 1:6, 1:8, or 1:10.

The vehicle may be capable of charging the UAV with any voltage and/orcurrent input. In some instances, the UAV energy storage unit mayreceive a charging voltage corresponding to a charging voltage of thevehicle battery. For example, if the vehicle uses a 12 V battery, theUAV energy storage unit may be charged at 12 V. In other examples, about1 V, 3 V, 5 V, 7 V, 10 V, 12 V, 14 V, 16 V, 18 V, 20 V, 24 V, 30 V, 36V, 42 V, or 48 V may be employed.

In alternative embodiments, the UAV energy storage unit may be a batterypack that may be removable from the UAV. In some examples, the dockingstation on the vehicle may have another battery pack that may be swappedout with the battery pack of the UAV. The docking station on the vehiclemay have one or more components that may permit automated swapping outof the battery packs without requiring human intervention. A robotic armor other feature may be used to swap the battery packs.

One or more battery packs may be stored on board the vehicle. Thebattery packs may be charged while being stored on the vehicle. In someinstances, the battery packs for the UAV may be charged by a battery ofthe vehicle while the vehicle is operational and/or in motion. In someinstances, a renewable energy source may be used to charge the batterypacks of the UAV. For example, solar power may be employed to charge thebattery packs of the UAV. Renewable energy sources as described ingreater detail elsewhere herein.

The battery packs may thus be in a fully charged or partially chargedstate when they are swapped out with a depleted battery of the UAV. Insome instances, an assessment may be made of the state of charge of thebattery of the UAV when the UAV docks with the vehicle. In someembodiments, depending on the state of charge, the UAV battery may becharged, or the UAV battery may be swapped out for a new one. In someinstances, the state of charge of the new batteries may be assessed aswell.

The UAV may include a data storage unit. The data storage unit mayinclude one or more memory units that may comprise non-transitorycomputer readable media comprising code, logic, or instructions toperform one or more actions. The data storage unit may include on-boarddata useful for flight of the UAV. This may include map informationand/or rules pertaining to one or more locations. The data storage unitof the UAV may be updated with new information while the UAV is inflight. The data storage unit of the UAV may be updated continuously,periodically, or in response to an event. In other instances, the datastorage unit of the UAV may be updated with new information while theUAV is docked to the vehicle. For example, to conserve energy and/orflight time, new data may not be sent to the UAV while the UAV is inflight unless critical to operation of the UAV, and the UAV may receiveregular updates when the UAV is connected to the vehicle. In someinstances, a hard-wired transmission of data may occur from a datastorage unit of the vehicle to a data storage unit of the UAV. Forexample, a connection 680 may be provided that may permit data from thevehicle data storage unit to be sent to the vehicle data storage unit.This may permit rapid transfer of data. The vehicle data storage unitmay be updated continuously, periodically or in response to an event.The vehicle data storage unit may be updated wirelessly. The vehicledata storage unit may be part of the docking station, or may beintegrated into the vehicle.

The data from the data storage unit may be accessed by a controller ofthe UAV. The controller of the UAV may control aspects of flight of theUAV. When the UAV is in an autonomous flight mode, the controller maycontrol the motions of the UAV by generating command signals thatcontrol operation of the propulsion units of the UAV. When the UAV isbeing manually controlled remotely, the controller may receive thesignals from the remote controller and generate command signals topropulsion units of the UAV based on the signals from the remotecontroller.

In some instances, the UAV may transmit data to the vehicle. Forexample, data gathered by a payload or sensor of the UAV may betransmitted to the vehicle. In one example, the payload may be an imagecapturing device, such as a camera, which may transmit image data to thevehicle. The data may be transmitted in real-time. In some instances,all the data may stream to the vehicle in real time. Other instances, aportion of the data, or a lower resolution of data may be streamed tothe vehicle in real-time. The rest of the data may be provided to thevehicle when the UAV docks to the vehicle. The connection 680 may permitdata from a data storage unit of the UAV to be transferred to a datastorage unit of the vehicle.

In some instances, two-way communications may be provided between theUAV and the vehicle.

The two-way communications may occur while the UAV is in flight and/orwhile the UAV is docked to the vehicle. The UAV and the vehicle may eachhave a communication interface. The communication interface may permitwireless communications between the UAV and the vehicle. In someinstances, the communication interface may permit wired communicationsbetween the UAV and the vehicle, such as when the UAV and the vehicleare docked. In some instances, multiple types of communicationinterfaces may be provided for the UAV and/or the vehicle for differenttypes of communications that may occur in different situations.

While a UAV is docked to the vehicle, energy and/or data transfer mayoccur. The docking of the UAV to the vehicle may permit a physicalconnection that may permit rapid transport of energy and/or data. Thetransfer may be uni-directional (e.g., from the vehicle to the UAV, orfrom the UAV to the vehicle) or bidirectional.

FIG. 7 shows an example of a UAV docked to a vehicle within a cover inaccordance with an embodiment of the invention. A UAV 710 may be dockedto a vehicle 720. The vehicle may have a docking station on-board thatmay permit the UV to dock to the vehicle. The docking station mayinclude a cover 730. The cover may cover at least a portion of the UAV.The cover may completely or partially enclose the UAV.

The cover 730 may have any shape or dimension. In some instances, thecover may have a rounded pod-like shape. The cover may have a pot lidshape. For example, the cover may be a hemi-sphere or a hemi-ellipsoid.The cover may have no corners, rounded corners or sharp corners. Inother instances, the cover may have a cylindrical or semi-cylindricalshape, prismatic shape, semi-buckeyball shape, or any other type ofshape. In some instances, the cover may be designed to be aerodynamic.The cover may be designed to provide reduced drag on the vehicle whenthe vehicle is in motion. The cover may be designed to provide reducedor no lift when the vehicle is in motion. The cover may reduceaerodynamic lift and/or drag on the vehicle compared to the vehiclewithout the cover. The cover may be designed so that when the vehicle isin motion, a downward force is provided by the cover when the vehicle isin motion. In some instances, the cover may provide a similar effect asa spoiler on the vehicle.

The cover may be sized to cover the UAV entirely. In some instances, thegreatest dimension (e.g., length, width, height, diagonal, or diameter)of the cover may be greater than the greatest dimension of the UAV(e.g., respective length, width, height, diagonal, or diameter). Thecover may be sized to not exceed the lateral dimensions of the vehicle.The cover may or may not add to the height of the vehicle.

The cover may be formed from a single integral piece. The cover may beformed from multiple pieces that have been permanently attached to oneanother. In another example, the cover may be formed from multiplepieces that may come apart.

The cover may be powered by a renewable energy source. In some examples,the renewable energy source may be solar power, wind power, or any othertype of renewable power. For example, one or more photovoltaic cellsand/or panels may be provided on board the vehicle. The photovoltaicunits may be provided on the cover itself. Alternatively, it may beprovided on any other surface of the vehicle. The photovoltaic units maygather solar energy and translate it to electricity. The electricity maybe used to directly power one or more components of the vehicle, such asa docking station of the vehicle. The electricity may be used to powerthe cover. The cover may open and/or close using the electricitygenerated by the solar power. The UAV battery may be directly chargedusing the electricity generated by the solar power. A UAV battery may beon-board the UAV or may be stored by the vehicle and swapped into theUAV. The electricity generated by the photovoltaic cells may be storedin an energy storage unit. The electricity to power one or morecomponents of the vehicle, such as the cover or battery charging may beprovided from the energy storage unit.

In another example, the renewable energy may utilize solar thermal. Aliquid may be heated using solar power and used to generate electricitythat may be used to power one or components of the vehicle. Theelectricity may be stored in an energy storage device to power one ormore components of the vehicle as needed. This may include charging abattery of a UAV (on-board the UAV or to be swapped into the UAV).

Wind power may be used in an additional example. While the vehicle is inmotion, it may experience a lot of wind, which may be used to generateelectricity. For example, the vehicle may cause one or more blades tospin, which may be used to generate electricity. The electricity may beused to power one or more components of the vehicle. The electricity maybe stored in an energy storage device to power one or more components ofthe vehicle as needed. This may include charging a battery of a UAV(on-board the UAV or to be swapped into the UAV).

The renewable energy power source may be used in combination with otherpower sources to power one or more components as described herein. Therenewable energy source may provide supplemental power to a vehiclepower source.

While the UAV is docked to the vehicle, the cover may cover the UAV.Optionally, the cover may completely enclose the UAV. The cover mayprovide a fluid-tight seal for the vehicle. The seal between the coverand the vehicle may be air tight. This may prevent air from flowingwithin the cover and increasing drag on the vehicle. This may also helpprotect the UAV from the elements. When the UAV is protected beneath thecover, the UAV may be protected from wind, rain, and other environmentalconditions. The cover may be waterproof. The cover connection with thevehicle may be water-tight so that no water can get into the cover whenit is enclosing the UAV. Optionally, the cover may be opaque. The covermay prevent light from entering its interior when it is closed. This mayreduce sun damage to the UAV and/or the vehicle. Alternatively, thecover may be transparent and/or translucent. The cover may permit lightto enter. The cover may filter the light to permit light of desiredwavelengths of light to enter.

In other implementations, the cover may partially enclose the UAV. Oneor more holes or openings may be provided that may permit air to flowinto the interior of the cover. In some instances, the holes or openingsmay be provided to minimize or reduce drag or aerodynamic lift by thecover and/or UAV.

When the UAV is about to launch from the vehicle, the cover may open. Inone example, the cover may open by pivoting about an axis. For example,a hinge or similar configuration may attach the cover to the vehicle ordocking station of the vehicle. The cover may pivot about the hinge toopen up and expose the UAV to the environment. The UAV may then becapable of taking off. In another example, the cover may have multiplepieces that may come apart. For example, two sides of a pot lidstructure may come apart and permit the UAV to fly out there through.The sides may each pivot about a hinge. In another example, rather thanpivoting about a single hinge, the cover may include one or portionsthat may pivot about multiple axes. In one example, the cover may be adirectional antenna that may be capable of pivoting about multiple axes,as described in greater detail below. In another example, rather thanrotating about a hinge, the cover may be able to translate and/or movelaterally and/or vertically. In one example, two portions of a cover maycome apart may sliding sideways and exposing a middle interior section,through which the UAV may fly. In other instances, the cover may includeone or more pieces that may retract. For example, they may retract intothe vehicle roof. In another example, they may telescope or fold over onthemselves. The cover may open in any number of ways, which may permitthe UAV to take off from the vehicle.

Once the UAV has taken off and is in flight, the cover may optionallyclose again. This may be to provide desired aerodynamic qualities forthe vehicle while the vehicle is in motion. Alternatively, the cover mayremain open while the UAV is in flight. In some instances, the positionof the cover may be controlled while the UAV is in flight. For example,the position of the cover may be altered to track the position of theUAV.

When the UAV is ready to land and dock with the vehicle, the cover mayopen, if the cover had been closed during the flight of the UAV. If thecover remained open during the flight of the UAV, the cover may remainopen while the UAV is landing. After the UAV has landed and/or dockedwith the UAV, the cover may be closed.

The cover may be provided on the exterior of the vehicle. The UAV mayland on an exterior portion of the vehicle, and the cover may cover theexterior portion of the vehicle.

The cover may optionally function as a directional antenna as describedin greater detail elsewhere herein. A bowl-shaped portion of the covermay function as a directional antenna dish. The cover may be movableabout one or more axes of rotation, which may permit a directionalantenna to move to be pointed at a UAV.

FIG. 8 shows an example of a UAV docked within a vehicle in accordancewith an embodiment of the invention. A UAV 810 may be docked to avehicle 820. The vehicle may have a docking station on-board that maypermit the UV to dock to the vehicle. The docking station may optionallybe within an interior of the vehicle. The docking station may include acover 830. The cover may control access of the UAV to the dockingstation. The cover may control access of the UAV to the interior of thevehicle. The cover may completely or partially enclose the UAV orprotect it from the exterior environment.

The cover 830 may have any shape or dimension. In some instances, thecover may be a portion of the vehicle roof, trunk, hood, door, or anyother portion of the vehicle. The cover may be contoured to follow therest of the surface of the vehicle. The cover may or may not have anyportion that protrudes from the vehicle when the cover is in a closedposition. The cover may or may not have any portion that is indentedfrom a surface of the vehicle when the cover is in a closed position.

The cover may be sized to permit passage of the UAV. In some instances,the cover may be sized so that when the cover is open, the UAV may becapable of flying through the cover to dock to the docking stationwithin the UAV. In some instances, the greatest dimension (e.g., length,width, height, diagonal, or diameter) of the cover may be greater thanthe greatest dimension of the UAV (e.g., respective length, width,height, diagonal, or diameter). The cover may be sized to not exceed thelateral dimensions of the vehicle. The cover may or may not add to theheight of the vehicle.

The cover may be formed from a single integral piece. The cover may beformed from multiple pieces that have been permanently attached to oneanother. In another example, the cover may be formed from multiplepieces that may come apart.

While the UAV is docked to the vehicle within an interior of thevehicle, the cover may cover the UAV. Optionally, when the cover isclosed, the UAV may not be capable of entering or exiting the vehiclewithout opening any doors of the vehicle. The cover may provide afluid-tight seal for the vehicle. The seal between the cover and therest of the vehicle may be air tight. This may prevent air from flowingwithin the vehicle and increasing drag on the vehicle. This may alsohelp protect the UAV and the interior of the vehicle from the elements.When the UAV is protected beneath the cover, and within the vehicle, theUAV may be protected from wind, rain, and other environmentalconditions. The cover may be water proof. The cover connection with thevehicle may be water-tight so that no water can get into the vehiclewhen the cover is closed. Optionally, the cover may be opaque. The covermay prevent light from entering its interior when it is closed. This mayreduce sun damage to the UAV and/or the vehicle. Alternatively, thecover may be transparent and/or translucent. The cover may permit lightto enter. The cover may filter the light to permit light of desiredwavelengths of light to enter. The cover may function as a sun roof. Thecover, when closed, may isolate the UAV and the interior of the car fromexternal conditions (unless other features of the car, such as windowsor doors, are open).

In other implementations, the cover may partially enclose the UAV. Oneor more holes or openings may be provided that may permit air to flowinto the interior of the vehicle.

When the UAV is about to launch from the vehicle, the cover may open. Inone implementation, the UAV may be within the interior of a cabin of avehicle and the cover may be provided in the roof. In anotherimplementation, the UAV may be within a trunk or rear portion of thevehicle, and the cover may be provided in the trunk surface. In anotherexample, the vehicle may be provided in a front hoot portion of avehicle, and the cover may be provided in the hood surface.

In one example, the cover may open by pivoting about an axis. Forexample, a hinge or similar configuration may attach the cover to thevehicle or docking station of the vehicle. The cover may pivot about thehinge to open up and expose the UAV to the environment. The UAV may thenbe capable of taking off. In another example, the cover may havemultiple pieces that may come apart. For example, two sides of a portionof a vehicle roof may come apart and permit the UAV to fly out therethrough. The sides may each pivot about a hinge. In another example,rather than pivoting about a single hinge, the cover may include one orportions that may pivot about multiple axes. In one example, the covermay be a directional antenna that may be capable of pivoting aboutmultiple axes, as described in greater detail below. In another example,rather than rotating about a hinge, the cover may be able to translateand/or move laterally and/or vertically. In one example, two portions ofa cover may come apart may sliding sideways and exposing a middleinterior section, through which the UAV may fly. In other instances, thecover may include one or more pieces that may retract. For example, theymay retract into the vehicle roof. In another example, they maytelescope or fold over on themselves. The cover may open in any numberof ways, which may permit the UAV to take off from the vehicle.

In one example, the cover may be doors, such as or bay doors, on asurface of a vehicle. The cover may be doors provided on a roof of thevehicle. Any description of a door may apply to a single door, ormultiple doors. In some instances, the cover 830 as illustrated in FIG.8 may be a pair of doors. The doors may rotate about a hinge. The doorsmay open upwards (to the exterior of the vehicle) or inwards, to aninterior of the vehicle. In other instances, the doors may be slidingdoors. The doors may slide along the surface of the vehicle withoutsubstantially changing the height of the vehicle. The doors may becapable of retracting into the rest of the surface of the vehicle. Inother instances, the doors may be folding doors or accordion-type doors.

Once the UAV has taken off and is in flight, the cover may optionallyclose again. This may be to provide desired aerodynamic qualities forthe vehicle while the vehicle is in motion. Alternatively, the cover mayremain open while the UAV is in flight. In some instances, the positionof the cover may be controlled while the UAV is in flight. For example,the position of the cover may be altered to track the position of theUAV.

When the UAV is ready to land and dock with the vehicle, the cover mayopen, if the cover had been closed during the flight of the UAV. If thecover remained open during the flight of the UAV, the cover may remainopen while the UAV is landing. After the UAV has landed and/or dockedwith the UAV, the cover may be closed.

The cover may be provided as part of a surface of the vehicle. The UAVmay land in an interior portion of the vehicle, and the cover maycontrol access to the interior of the vehicle for the UAV. When thecover is open, the UAV may pass through to from inside the vehicle tothe outside environment, or from the outside environment to the interiorof the vehicle. When the cover is closed, the UAV may not pass through.

FIG. 9 shows a view of multiple vehicles that may be discerned by a UAVin accordance with an embodiment of the invention. A UAV 910 may beflight and may distinguish a companion vehicle 920 c from other vehicles920 a, 920 b, 920 d in the vicinity. The vehicles may have a marker 930a, 930 b, 930 c, 930 d that may distinguish them from one another.

A UAV 910 may communicate with a companion vehicle 920 c. The UAV maysend data to the companion vehicle while the UAV is in flight. Thevehicle may be associated with the companion vehicle. The UAV may havetaken off from the companion vehicle. The UAV may be configured to landon the companion vehicle. The operator of the companion vehicle may ownand/or operate the UAV.

When the UAV is in flight, a challenge may arise when the time comes forthe UAV to land on its companion vehicle. Many vehicles may be travelingwithin an environment. For example, even in two-direction traffic, theremay be many vehicles in close proximity to one another. In someinstances, these may include vehicles of similar shapes and/or sizes, aswhen viewed from above. These may include vehicles of the same make ormodel and/or color. A need may exist for the UAV to distinguish itscompanion vehicle from the other surrounding vehicles when the timecomes for the UAV to land. Otherwise, the UAV may land on the wrongvehicle, or may even attempt to land on a vehicle that is not configuredto dock with the UAV. This could result in loss of the UAV and/or damageto the UAV.

The companion vehicle 920 c may have a marker 930 c that maydifferentiate the companion vehicle from the other vehicles 920 a, 920b, 920 d. The marker may be detectable by the UAV. A command signal maybe generated, based on the marker, to drive one or more propulsion unitsof the UAV, thereby controlling a laterally velocity of the UAV to fallwithin a predetermined range relative to a lateral velocity of thevehicle. The UAV may be coupled to the vehicle while the lateralvelocity of the UAV falls within a predetermined range.

The command signal may be generated on-board the UAV. For example, aflight controller of the UAV may generate the command signal to drivethe propulsion units of the UAV. The flight controller may receive datafrom one or more sensors of the UAV and/or a communication unit of theUAV indicative of the marker on the vehicle. In some instances, the UAVmay detect the marker on the vehicle without requiring any communicationfrom the vehicle and/or marker of the vehicle to the UAV.

In another example, the command signal may be generated on-board thevehicle. A processing unit of the vehicle may generate the commandsignal which may be transmitted to the UAV. The processing unit of thevehicle may or may not generate the command signal based on a locationof the vehicle. The processing unit of the vehicle may or may notgenerate the command signal based on information the vehicle hasreceived about the UAV (e.g., location of the UAV).

The marker 930 c may be any type of marker. In one example, the markermay be a visual marker that may be detectable by an optical sensor. Inone instance, the marker may be detectable by an optical sensor of theUAV. The optical sensor may be a camera capable of viewing the markeremitting and/or reflecting any signal along an electromagnetic spectrum.For example, a camera may be capable of detecting visible light. Inanother example, the optical sensor may be capable of detecting a signalemitted along an ultraviolet (UV) spectrum. In another example, theoptical sensor may be capable of detecting a signal emitting along aninfrared (IR) spectrum.

The marker 930 c may be visual discernible to the naked eye. In oneexample, the marker may be a 1D, 2D or 3D barcode. In another example,the marker may be a quick response (QR) code. The marker may be animage, symbol, or any combination of black and white or coloredpatterns. In some instances, the marker may be an emitted light. Thelight may be emitted by any light source, such as an LED, incandescentlight, laser, or any other type of light source. The marker may includea laser spot or any other type of light spot. The laser can havemodulated data. The light may emit a particular wavelength orcombination of wavelengths of light. The light may be emitted with anyspatial pattern. In some instances, the light may be emitted with anytemporal pattern (e.g., patterns of turning on and off).

The marker 930 c may be detected using an IR sensor. The marker may bedetected using thermal imaging. The marker may be detectable along thenear IR spectrum, far IR spectrum, or any combination thereof.

The marker 930 c may emit any other type of signal. In some instances,the marker may emit a wireless signal indicative of the identity of thevehicle. The marker may emit a signal indicative of the position of thevehicle. For example, the marker may emit a vehicle identifier (e.g.,unique identifier for the vehicle) as well as coordinates of thevehicle, or any other information pertaining to the location of thevehicle. The marker may emit a signal along a radio frequency, or anyother type of frequency. For instance, the marker may use RFID or otherwireless methods. The marker may emit a direct wireless signal via WiFi,WiMax, Bluetooth, or any other type of direct wireless signal. Themarker may emit an acoustic signal or sound signal. In some instances,the marker may emit a high frequency signal that may not be discernibleby human ears.

In some instances, a single marker 930 c may be provided on a vehicle920 c. Alternatively, multiple markers may be provided on a vehicle. Themultiple markers may be of the same type of may be of differing types.The UAV may be capable of detecting a single type of marker or multipletypes of markers. For a marker provided on a vehicle, the UAV may haveone or more sensor capable of detecting the marker.

The markers 930 a, 930 b, 930 c, 930 d may be distinguishable from oneanother. This may help distinguish different vehicles 920 a, 920 b, 920c, 920 d from one another. The markers may be distinguishable from oneanother using a sensor of the UAV. The UAV may be capable ofdistinguishing the marker from the companion vehicle 930 c from theother markers around 930 a, 930 b, 930 d. For example, if the markersare visual patterns, the visual patterns may each be different from oneanother. Each vehicle may have a unique or substantially unique visualpattern. In another example, if the marker is emitting a wirelesssignal, the wireless signals may provide an identifier from the vehiclethat is differentiable from other surrounding vehicles.

The markers may be detectable and/or distinguishable by the UAV 910while the vehicles are in motion. Even if the vehicles are traveling atany of the speeds described elsewhere herein, the UAV may be able todetect and/or read the markers to distinguish the companion vehicle 920b from other vehicles 920 a, 920 b, 920 d. In some instances, the UAVand the companion vehicle may be in communication while the UAV is inflight. The companion vehicle may send information about the companionvehicle's location to the UAV. The UAV may use the companion vehicle'slocation along with the UAV's location to determine how to fly towardthe companion vehicle. In another example, the companion vehicle mayreceive information about the UAV's location and use the UAV's locationalong with the companion vehicle's location to generate command signalsto the UAV on how to fly back. However, even if the relative location ofthe companion vehicle and/or UAV are known, since there may be a highdensity of vehicles in a small space and the vehicles may all be inmotion, having the marker may advantageously permit the UAV to pinpointwith increased accuracy, the companion vehicle on which the UAV is toland.

Once a landing sequence is initialized, the UAV may travel to thelocation of the companion vehicle. In some instances, the vehicle maytransmit its geographic coordinates to the UAV. In one example, a UAVmay receive the GPS coordinates of the vehicle in real time. Thecoordinates may be sufficient to get the UAV to the general location ofthe vehicle. However, there may also be other vehicles or similarobjects close by. The UAV may employ one or more sensors to discern themarker of the companion vehicle from the other surrounding vehicles. Forexample, the UAV may use vision-based methods to provide accuratelanding. The UAV may have an on-board camera (e.g., on the underside ofthe UAV), that may provide accurate positioning. Machine visiontechniques may be employed to read the marker. Any other techniques orsensors may be employed to detect and distinguish a marker. Once themarker of the companion vehicle has been discerned, the UAV may land onthe companion vehicle and dock with the companion vehicle.

General communication between the UAV and the companion vehicle may beused to get the UAV to the general location of the companion vehicle.The marker may aid in further pinpointing the location of the companionvehicle and distinguishing it from other surrounding vehicles. Themarker may serve as a confirmation of the vehicle on which the UAV willland.

The marker may uniquely differentiate the vehicle from other vehiclesnearby. In some instances, a companion vehicle may be differentiatedfrom other vehicles within about 0.01 km, 0.05 km, 0.1 km, 0.3 km, 0.5km, 0.7 km, 1 km, 1.5 km, 2 km 2.5 km, 3 km, 3.5 km, 4 km, 4.5 km, 5 km,5.5 km, 6 km, 7 km, 8 km, 9 km, 10 km, 12 km, 15 km, 20 km, 25 km, 30km, 35 km, 40 km, or 50 km of the vehicle. Each marker may provide avehicle with a unique identifier, which may correspond to a UAV or beknown by a companion UAV. The UAV may be calibrated with the uniqueidentifier (e.g., visual pattern, IR signal, UV signal, wirelesssignal). For example, the UAV may interact with the marker in acalibration sequence to know the unique identifier corresponding to thevehicle. The way, if the vehicle later updates it marker, or the UAV isused with a different companion vehicle, the UAV may be recalibratedwith the new marker and be able to find its companion vehicle.

The marker may also be useful for indicating a landing position of theUAV on the vehicle. The marker may be used as a fiducial marker, whichmay aid the UAV in navigating to a proper landing position on thevehicle. In some examples, multiple markers may be provided which mayaid the UAV in landing in a desired position. In some instances, it mayalso be desirable for a UAV to have a particular orientation whendocking with the vehicle. In one example, the marker may include anasymmetric image or code that may be discernible by the UAV. Thefiducial may be indicative of the orientation of the vehicle relative tothe UAV. Thus, the UAV may be able to orient itself properly whenlanding on the vehicle. The marker may also be indicative of thedistance of the vehicle relative to the UAV. This may be used separatefrom or in combination with one or more other sensors of the UAV todetermine the altitude of the UAV. For example, if the size of thefiducial marker is known, the distance from the UAV to the marker may begauged depending on the size of the marker showing up in the sensors ofthe UAV. The marker may also aid with determining speed and/or motion ofthe vehicle. For example, if the UAV is collecting images at aparticular frequency, the location of the marker in one frame to thenext may help determine the motion of the vehicle relative to the UAV.

In one example, the marker may be provided at a particular locationrelative to a desired landing spot of the UAV on the vehicle. This maybe at a particular location relative to a desired landing spot on adocking station of a vehicle. The UAV may be capable of landing on thevehicle/docking station with great precision, when the vehicle isstationary or is in motion. The marker may help guide the UAV to theexact desired spot. For instance, the marker may be located 10 cm infront of the center of the desired landing point of the UAV. The UAV mayuse the marker to guide the UAV to the exact landing spot. In someexamples, multiple markers may be provided. The desired landing spot mayfall between the multiple markers. The UAV may use the markers to helporient the UAV and/or position its landing between the markers.

The marker may be provided anywhere on the vehicle. In some instances,the marker may be provided on an exterior surface of the vehicle. Themarker may be on a roof of the vehicle, trunk of the vehicle, hood ofthe vehicle, extension attached to the vehicle (e.g., carriage, two, orsidecar pulled by the vehicle), side of the vehicle, door of thevehicle, window of the vehicle, mirror of the vehicle, light of thevehicle, or any other portion of the vehicle. In some examples, themarker may be provided on a docking station. The marker may bepositioned on a surface of the docking station discernible by the UAV.The docking station may or may not be removable from the vehicle. Themarker may be positioned on a vehicle where it may be detected fromoutside the vehicle. The marker may include a wireless signal beingemitted by a vehicle. The origin of the signal may be from outside thevehicle or inside the vehicle.

The marker may be positioned near where the UAV may dock with thevehicle. In one example, the marker may be positioned less than about100 cm, 90 cm, 80 cm, 75 cm, 70 cm, 65 cm, 60 cm, 55 cm, 50 cm, 45 cm,40 cm, 35 cm, 30 cm, 25 cm, 20 cm, 15 cm, 12 cm, 10 cm, 8 cm, 7 cm, 6cm, 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm from where the UAV forms aconnection with the vehicle.

Data pertaining to the detected marker may be provided to one or moreprocessors. The processors may be on board the UAV. Based on thedetected information about the detected marker, the processors may,individually or collectively, generate a command signal. The commandsignal may drive the propulsion units of the UAV. For example, thepropulsion units may be driven to cause the UAV to land on the vehiclewith the detected marker, when the detected marker is determined tobelong to the companion vehicle of the UAV. If the detected marker isdetermined to not belong to the companion vehicle of the UAV, thepropulsion units may be driven to cause the UAV to fly in the vicinityto look for another marker that may belong to the companion vehicle ofthe UAV.

In some embodiments, sensors on board the UAV may be used to detect themarker, and processing may occur on-board the UAV. The UAV may becapable of landing itself on the vehicle without requiring furtherguidance or information from the vehicle once the UAV has confirmed thatthe marker belongs to the companion vehicle.

A vehicle may include a marker, and one or more coupling connectioncomponents. The vehicle may send information about its location and/orvelocity to a UAV. The vehicle may have a location unit capable ofdetermining positional and/or velocity information about the vehicle. Avehicle may receive information from the UAV about the location of theUAV. For example, coordinate information, such as GPS coordinates, forthe UAV may be provided to the vehicle. The vehicle may have acommunication unit capable of communicating with the UAV. The vehiclemay have a processor capable of identifying and/or calculating alocation of the UAV.

FIG. 10 shows an example of a UAV in communication with an associatedvehicle in accordance with embodiments of the invention. A UAV 1010 maybe capable of communicating with a companion vehicle 1020 b. In someinstances, the companion vehicle may be in a setting surrounded by othervehicles 1020 a, 1020 c, 1020 d. The UAV may communicate with thecompanion vehicle without communicating with the other vehicles. The UAVmay be able to discern the companion vehicles from other vehicles tocommunicate exclusively with the companion vehicle.

In some embodiments, one-way communications may be provided between theUAV 1010 and the companion vehicle 1020 b. The UAV may send data to thecompanion vehicle. The data may include data from a payload of thevehicle and/or one or more sensors of the vehicle. In one example, thepayload may be a camera or other type of image capturing device. Thecamera may capture static images (e.g., stills) and/or dynamic images(e.g., video). The images captured by the camera may be streamed to thecompanion vehicle. The data may be sent to the companion vehicle withoutbeing sent to any other surrounding vehicle.

Other data may be sent from the UAV to the companion vehicle. Forexample, location data of the UAV may be sent to the vehicle. Thelocation data may be determined using one or more sensors of the UAV.The location may be discerned on-board the UAV and sent to the companionvehicle. Alternatively the location data may be sent to the companionvehicle which may use the data to discern the location of the UAV. Anyenvironmental data picked up by one or more sensors of the UAV may besent down to the vehicle. Such environmental data may include localenvironmental conditions such as temperature, wind, sunniness,brightness, sounds, or any other information. Such environmental datamay also include the detection and/or presence of static or dynamicobjects in the area.

In one example, a user (e.g., operator or passenger of a vehicle 1020 b)may wish to gather information about the surrounding environment thatthe user cannot get while in the vehicle. The user may wish to gatherimages of the environment surrounding the user. In one example, atraffic jam may have occurred. The user may wish to determine the causeof the traffic jam and/or scout out how bad the traffic jam is. The usermay also wish to map out possible alternate routes depending onsurrounding traffic. The user may launch a UAV from the vehicle tocollect the information. The UAV may include a camera, and may fly aheadof the vehicle. The UAV may be able to capture images of about the causeof the traffic jam and/or possible routes to take. The UAV may be ableto capture images that may help the user assess how long the user may bestuck in traffic and/or the extent of the traffic jam. The images may bestreamed to the user in real-time. The images may be streamed to adisplay device within the vehicle. For example, the UAV 1010 may flyabove the companion vehicle 1020 b and/or other vehicles 1020 a, 1020 c,1020 d and be able to view from a higher altitude additional informationthat may not be viewable from within the companion vehicle.

An additional example may provide a user looking for a parking spot in aparking lot or parking structure. The UAV may be able to fly overhead tostream images of the parking lot from overhead. The user may be able tosee in real-time whether there are any parking spots open. The just mayalso be able to see if there are other cars looking for parking near theopen parking spot or the best way to maneuver the user's vehicle towardthe open parking spot. This may also be advantageous in situations wherethere are many different parking areas within a parking lot. In someinstances, the UAV may fly overhead and provide images that may help auser determine which parking area has the most open parking spots.

In another example, a user may wish to scout out surrounding locationsfor safety purposes. The user may wish to see if other vehicles orindividual are in an area that the user is driving. The UAV may flyoverhead and capture images of the surrounding environment.

The companion vehicle may be first responder, or emergency vehicle. Forexample, the companion vehicle may be a law enforcement vehicle (e.g.,police car), fire truck, ambulance, or any other type of first respondervehicle. The companion vehicle may wish to gather more information aboutthe emergency to which it responds before arriving on the scene. The UAVmay fly ahead and be used to provide additional information about theemergency. For example, if there is a car accident, medical emergency,fire, and/or any type of crisis, the UAV may gather information aboutthe situation (e.g., capture images of the situation) and send theinformation to the companion vehicle before the companion vehiclearrives. This may help first responders plan for and respond to theemergency more quickly and effectively.

An additional example may provide a UAV that also includes a lightsource as a payload. The light source may be used to illuminate an areabeneath the UAV. In some instances, in a very dark environment, a usermay wish the UAV to fly overhead and/or ahead to light the way and showthe operator of the companion vehicle what obstacles may lie ahead. Theadditional light provided by the UAV may provide additional perspectiveor visibility relative to headlights of the vehicle. In some instances,if the vehicle headlights are non-functioning or insufficient, the UAVmay be used for additional illumination. In one instance, the companionvehicle may be searching for a fugitive and the UAV may fly near thecompanion vehicle to provide an aerial viewpoint and/or light source tohelp track down the fugitive.

The UAV may be used to conduct a geographical survey in accordance withanother aspect of the invention. For example, the UAV may capture imagesof the surrounding environment, or use other sensors, to create ageographical map of the surrounding environment. The companion vehiclemay be driving around to create a map of the surrounding environment,and the UAV may be useful in supplementing or adding to the datacollected by the companion vehicle. The aerial images captured by theUAV may be used alone or in combination with images captured by thecompanion vehicle.

Optionally, other data, such as the location of the vehicle may berelayed to the user. In some instances, the location of the UAV may beoverlaid on a map. This may help put the images captured by the UAV intoa geographic context. Optionally, the location of the companion vehiclemay also be overlaid on the map. Thus, the map may show the relativelocations between the UAV and the companion vehicle within thegeographical area. This may help a user in controlling the UAV orsending commands to the UAV.

Communications may be provided from the vehicle 1020 b to the companionUAV 1010. The communications may include information about the locationof the vehicle. The UAV may use the information about the location ofthe vehicle to control the flight path of the UAV. In some instances,the UAV may fly along a predetermined path in relation to the locationof the vehicle. In other instances, the UAV may fly within a particularrange of the location of the vehicle. The UAV may use the informationabout the location of the vehicle to return to the vehicle and/or landon the vehicle.

Communications from the vehicle to the companion UAV may also includeone or more flight commands from the vehicle to the UAV. In someinstances, the flight commands may include direct, real-time control ofthe flight of the UAV. For example, the vehicle may have a remotecontroller for the flight of the UAV. A user may operate the remotecontroller to control the flight of the UAV. The UAV may respond to thecommands from the remote controller in real-time. The remote-controllermay control the position, orientation, velocity, angular velocity,acceleration, and/or angular acceleration of the UAV. An input from theremote controller may result in a corresponding output in by the UAV.Inputs by the remote controllers may correspond to specific outputs bythe UAV. A user may thus be manually controlling aspects of the UAV'sflights via the remote controller. The user may manually control aspectsof the UAV's flights while within the companion vehicle. The user may bethe operator of the vehicle, or a passenger of the vehicle.

In some instances, the flight commands may include the initiation of apreset sequence. For example, a user may input a command for the UAV totake off from the vehicle. In some instances, a predetermined protocolmay be provided for the UAV to take off. In other instances, the usermay manually control the UAV to have the UAV take off from the vehicle.The present UAV take off sequence may include opening a cover, if acover is provided over the UAV. A preset sequence of the UAV taking offfrom the vehicle may include undocking or disconnecting the UAV from adocking portion of the vehicle. The preset sequence may also includeincreasing the altitude of the UAV with aid of one or more propulsionunits. The orientation and/or position of the UAV may be controlled. Insome instances, the movement of the vehicle while the UAV is taking offmay be taken into account for the takeoff sequence of the UAV.Environmental conditions such as the wind speed may or may not beassessed and/or considered for the takeoff sequence of the UAV.

In another example, a user may input a command for the UAV to land onthe vehicle. In some instances, a predetermined protocol may be providedfor the UAV to land on the vehicle. In other instances, the user maymanually control the UAV to have the UAV land on the vehicle. A presetsequence of the UAV landing on the vehicle may include decreasing thealtitude of the UAV with aid of one or more propulsion units. Theorientation and/or position of the UAV may be controlled. In someinstances, the movement of the vehicle while the UAV is landing may betaken into account for the landing sequence of the UAV. For example, theUAV lateral velocity may match the vehicle lateral velocity or fallwithin a predetermined range of the vehicle lateral velocity. Forexample, the UAV lateral velocity may be brought within about 15 mph, 12mph, 10 mph, 9 mph, 8 mph, 7 mph, 6 mph, 5 mph, 4 mph, 3 mph, 2 mph, 1mph, 0.5 mph, or 0.1 mph when the UAV is landing on the vehicle.Environmental conditions such as the wind speed may or may not beassessed and/or considered for the landing sequence of the UAV. Thepreset landing sequence may include the docking and/or connecting of theUAV with a docking portion of the vehicle. The preset landing sequencemay optionally include covering the UAV with a cover once docked to thevehicle.

The flight commands may be provided in accordance with one or moreflight pattern of the UAV while separated from the vehicle. In someinstances, one or more flight patterns may be provided, which may permitautonomous, or semi-autonomous flight of the UAV. The flight patternsmay dictate the position of the UAV relative to the vehicle. The flightpattern may dictate the position of the UAV over time relative to thevehicle. In one example, a flight pattern may instruct the UAV to flydirectly above the vehicle at a particular altitude. If the vehicle isin motion, the UAV may move laterally to correspond to the vehiclemotion, and remain over the vehicle. In another example, the flightpattern may instruct the UAV to fly above the vehicle and remain aheadof the vehicle by a particular distance. For example, a UAV may fly upinto the air and fly to be about 500 meters in front of the vehicle.After a predetermined amount of time the UAV may return to the vehicleand land on the vehicle. Other examples of flight patterns may includegrid-like flight patterns, circular flight patterns, or any other shapeof flight pattern. The flight patterns may include the UAV flying abovethe vehicle, in front of the vehicle, behind the vehicle, to a rightside of the vehicle, to a left side of the vehicle, or any combinationsthereof. The UAV may fly along the flight pattern relative to thevehicle a particular amount of time and then return to the vehicle.

In other instances, the UAV may return to the vehicle in response to adetected condition. For example, if a battery on-board the UAV dropsbeneath a threshold state of charge, the UAV may return to the vehicle.For example, if the battery charge level for the UAV drops beneath about50%, 40%, 30%, 25%, 20%, 15%, 12%, 10%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, or1%, the UAV may return to the vehicle. In another example, if an erroris detected on-board the UAV, the UAV may return to the vehicle. Forexample, overheating of one or more components of the UAV may bedetected, and the UAV may immediately return to the vehicle. In anotherexample, an error may be detected for one or more sensors or payload ofthe UAV. If the camera of the UAV is no longer functioning, the UAV mayreturn to the vehicle. If one or more sensors is malfunctioning and/ornot receiving a signal, the UAV may return to the vehicle.

In some instances, the UAV may be instructed to remain within aparticular distance of the moving UAV. For example, the UAV may beinstructed to remain within about 10 km, 9.5 km, 9 km, 8.5 km, 8 km, 7.5km, 7 km, 6.5 km, 6 km, 5.5 km, 5 km, 4.5 km, 4 km, 3.5 km, 3 km, 2.5km, 2 km, 1.5 km, 1 km, 500 m, 300 m, or 100 m of the companion vehicle.The distance may be lateral distance, altitude, or any combinationthereof. The distance may incorporate both the lateral distance andvertical distance. The UAV may fly in accordance with a pre-set flightpattern within the distance. In another instance, the UAV mayautonomously fly within the distance without following a pre-setpattern, but may remain within the distance. In another example, a usermay manually control the UAV freely within the distance. If the usertries to control the UAV outside the distance, the UAV may refuse to gooutside the distance and may remain within the distance.

Any description herein of the distance may also refer to any permissiblezone relative to the companion vehicle. Any permissible zone may haveany shape and/or may refer to boundaries within which the UAV will needto stay relative to the companion vehicle. The permissible zone may havedifferent distance thresholds for different directions relative to thecompanion vehicle. For example, a UAV may need to remain within 4 km tothe front of the companion vehicle, 1 km of a side of the companionvehicle and 2 km of the rear of the companion vehicle.

As the companion vehicle moves, the threshold distance and/orpermissible zone may move with the companion vehicle. For example, ifthe permissible zone is a circle around the companion vehicle, as thecompanion vehicle moves, the permissible zone may move with thecompanion vehicle so that the center of the circle remains with thevehicle. Thus, the region within which UAV in flight may fly may changeover time.

Additional types of commands may be provided from the vehicle to thecompanion UAV. For example, control of the payload may be provided inresponse to a command from the vehicle. This may include positioningand/or orientation of a camera on the UAV. This may also includecontrolling other camera features such as recording modes, zoom,resolution, or any other type of camera controls. The vehicle maycontrol the camera by initiating a preset sequence (e.g., autonomous orsemi-autonomous) or directly controlling (e.g., manual) the camera.Similarly, control of one or more sensors may occur in response to acommand from the vehicle. The commands to the sensors, payloads, and/orany other features of the UAV may permit any component of the UAV tooperate in any of the following modes: autonomous, semi-autonomous, ormanual modes.

Two-way communications may be provided between the UAV 1010 and thecompanion vehicle 1020 b. Any combination of data transmissionsdescribed herein may be provided. For example, commands from the vehiclemay be used to control the UAV or initiate a sequence for the UAV toexecute. The commands may be used to control the flight of the UAV, apayload of the UAV, a sensor of the UAV, or any other component orfunction of the UAV. Data from the UAV may be provided to the vehicle.This may include data about a state of the UAV (e.g., position, flighttrajectory, error state, charge state), and/or any data collected by oneor more payload or sensor of the UAV (e.g., images, locationinformation, environmental information). In some embodiments, thetwo-way communications may affect one another. Feedback may be provided.For example, location data of the UAV may aid in formulating thecommands to control the flight of the UAV. The feedback may be providedby a manual operator, and/or a processor configured to provide automatedcommands.

The UAV 1010 may be capable of selectively communicating with thecompanion vehicle 1020 b without communicating with the other vehicles.In some instances, the UAV and the companion vehicle may be pre-synchedor pre-paired which may enable direct communications with one another.Unique identifiers between the UAV and/or the companion vehicles may beexchanged and used to identify one another. In other embodiments, theUAV and companion vehicle may communicate via a unique frequency and/orcommunication channel. The communication channel may optionally beencrypted.

FIG. 11 shows an example of multiple UAVs in communication with multiplevehicles in accordance with an embodiment of the invention. In someinstances, within a given area, multiple UAVs 1110 a, 1110 b, 1110 c maybe provided. The multiple UAVs may each have a corresponding companionvehicle 1120 b, 1120 c, 1120 g. Other vehicles 1120 a, 1120 d, 1120 e,1120 f may be provided in the area. The other vehicles may or may nothave their own companion UAVs.

The UAVs may be able to communicate with their companion vehicleswithout communicating with other vehicles. The UAVs may be able tocommunicate with their companion vehicles without interfering withcommunications between other UAVs and their companion vehicles. The UAVsmay communicate with their companion vehicles without ‘eavesdropping’ oncommunications between the other UAVs and their companion vehicles. TheUAVs may be able to differentiate their companion vehicles from othervehicles and communicate only with their companion vehicles. Similarly,the vehicles may be able to differentiate their UAVs from other UAVs andcommunicate only with their companion UAVs. For example, a UAV 1110 amay be able to distinguish its companion vehicle 1120 b from all othervehicles in the area. The vehicle 1120 b may be able to distinguish itscompanion UAV 1110 a from all other UAVs in the area. In some instances,the area may be less than or equal to about 100 sq km, 90 sq km, 70 sqkm, 60 sq km, 50 sq km, 45 sq km, 40 sq km, 35 sq km, 30 sq km, 25 sqkm, 20 sq km, 15 sq km, 12 sq km, 10 sq km, 9 sq km, 8 sq km, 7 sq km, 6sq km, 5 sq km, 4.5 sq km, 4 sq km, 3.5 sq km, 3 sq km, 2.5 sq km, 2 sqkm, 1.5 sq km, 1 sq km, 0.8 sq km, 0.5 sq km, 0.3 sq km, 0.1 sq km, 0.05sq km, or 0.01 sq km.

In some embodiments, the UAVs 1110 a, 1110 b, 1110 c may be able todetect one another and/or communicate with one another. The UAVs maydetect the presence of other UAVs. Collision avoidance may be providedbetween multiple UAVs. In some instances, the UAVs may have acommunication sharing mode. For example, a first UAV 1110 a maycommunicate data collected to a second UAV 1110 b. In one example,images collected by the first UAV may be shared with a second UAV. Thefirst UAV may transmit the first UAV's data to the companion vehicle1120 b. The second UAV that receives data from the first UAV maytransmit the data to the second UAV's companion vehicle 1120 c. Datacollected by the second UAV may also be transmitted to the second UAV'scompanion vehicle and to the first UAV. The first UAV may optionallytransmit data from the second UAV to the first companion vehicle. Thus,data sharing may occur between the different UAVs. This may be usefulfor expanding the range of data collected by a UAV. In some instances,in any given moment a single UAV may only able to cover a particulararea. If multiple UAVs are covering different areas, and sharing theinformation, the information collected may be expanded.

In some instances, users may be able to opt in or opt out of a UAV datasharing mode. If the users opt out of the UAV data sharing mode, theuser's UAV may not communicate with any other UAVs. If the users optinto a data sharing mode, the user's UAV may communicate with otherUAVs. The other UAVs may also need to opt into the data sharing mode.

Optionally, the vehicles may only communicate with their companion UAVs.Alternatively, they may communicate with other vehicles. In someimplementations, vehicles 1120 b, 1120 c, 1120 g may be able to detectone another and/or communicate with one another. The vehicles maycommunicate with other vehicles that have companion UAVs or even othervehicles that do not have companion UAVs 1120 a, 1120 d, 1120 e, 1120 f.The vehicles may detect the presence of other vehicles. In someinstances, the vehicles may have a communication sharing mode. This maybe provided in addition to, or in the place of, a communication modebetween UAVs. For example, a first vehicle 1120 b may communicate datacollected to a second vehicle 1120 c. In one example, images collectedby a first UAV that is a companion to the first vehicle and transmittedto the first vehicle may be shared with a second vehicle. The first UAVmay transmit the first UAV's data to the companion vehicle 1120 b. Thefirst vehicle may transmit the received information to the secondvehicle. The second vehicle may or may not transmit information to itscompanion UAV 1110 b. Similarly, the second vehicle may also shareinformation with the first vehicle. The second vehicle's companion UAVmay transmit data to the second vehicle. The second vehicle may transmitthe data to the first vehicle. Thus, data sharing may occur between thedifferent vehicles. This may be useful for expanding the range of datacollected by a vehicle. The vehicle may receive data collected frommultiple UAVs via the combination of UAVs and/or other vehicles. In someinstances, in any given moment a single UAV may only able to cover aparticular area. If multiple UAVs are covering different areas, andsharing the information, the information collected may be expanded.

In some instances, users may be able to opt in or opt out of a vehicledata sharing mode. If the users opt out of the vehicle data sharingmode, the user's vehicle may not communicate with any other vehicles. Ifthe users opt into a data sharing mode, the user's vehicle maycommunicate with other vehicles. The other vehicles may also need to optinto the data sharing mode.

Additional implementations may provide vehicles being able tocommunicate with any UAVs participating in a data sharing mode, and/orUAVs between able to communicate with any vehicles participating in adata sharing mode. Optionally, the UAVs may be able to communicate withany other UAVs participating in a data sharing mode and/or the vehiclesmay be able to communicate with any other vehicles participating in adata sharing mode. For example, a UAV 1110 a participating in a datasharing mode may communicate with its companion vehicle 1120 b. The UAVmay also be capable of communicating with other UAVs 1110 b who may beparticipating in a data sharing mode, and/or other vehicles 1120 c whomay be participating in the data sharing mode. Similarly, a vehicle 1120b participating in a data sharing mode may communicate with itscompanion UAV 1110 a. The vehicle may be capable of communicating withother vehicles 1120 c who may be participating in the data sharing mode,and/or other UAVs 1110 b who may be participating in the data sharingmode.

If a UAV 1110 c is not participating in a data sharing mode, it maycommunicate with its companion vehicle 1120 g without communicating withany other vehicles and/or UAVs, including those participating in thedata sharing mode. Similarly, if the vehicle 1120 g is not participatingin the data sharing mode it may communicate with its companion UAV 1110c without communicating with any other vehicles and/or UAVs, includingthose participating in the data sharing mode.

As previously, users may be able to opt in or opt out of a data sharingmode. If the users opt out of the data sharing mode, the user's UAV orvehicle may not communicate with any other UAVs or vehicles. If theusers opt into a data sharing mode, the user's UAV or vehicle maycommunicate with other UAVs or vehicles. The other UAVs or vehicles mayalso need to opt into the data sharing mode. In some instances, a usermay be able to opt in and specify one or more parameters of the datasharing mode. For example, the user may only share with UAVs and/orvehicles of a particular type or with which the user has a particularrelationship. In another example, the user may specify the type of datathat may be shared with other UAVs and/or vehicles, or situations wheredata may be shared.

Thus, in situations where there may be multiple UAVs and/or vehicles,communications may be limited or open as desired. Closed communicationsmay permit UAVs and companion vehicles to communicate with one anotherprivately. In some instances, it may be desirable to share someinformation, in which some open communications may be provided. The UAVsand the vehicles may be able to discern their companions from otherobjects in the area. Unique identification and recognition may occur. Insome instances, the unique identification and recognition may be usefulfor encryption and/or decryption of data that may be shared.

Each UAV may have a single companion vehicle. Alternatively, a UAV mayhave multiple companion vehicles. A vehicle may have a single companionUAV. Alternatively, a vehicle may have multiple companion UAVs.

FIG. 12A shows an example of an antenna on a vehicle that may be incommunication with a UAV in accordance with embodiments of theinvention. The UAV 1210 may be capable of communicating with a companionvehicle 1220 while the UAV is in flight. The UAV and vehicle maycommunicate with one another with aid of an antenna 1230. The antennamay be a directional antenna that may be capable of changing direction.For example, the antenna may change orientation about one or morerotational axes 1240 a, 1240 b.

The UAV 1210 may be capable of communicating with a companion vehicle1220 while the UAV is in flight. In some instances, two-waycommunications may occur between the UAV and vehicle. The companionvehicle may permit the UAV to take off from the vehicle and/or land onthe vehicle while the vehicle is in operation. The companion vehicle maypermit the UAV to take off from the vehicle and/or land on the vehiclewhile the vehicle is in motion.

In some embodiments, direct communications may be provided between theUAV 1210 and the companion vehicle 1220. Direct communications may occurwith aid of a directional antenna 1230. The directional antenna may beprovided on board the companion vehicle. In alternate embodiments, adirectional antenna may be provided on board the UAV. Directionalantennas may be provided on board the vehicle and on board the UAV. Insome instances, a directional antenna may be provided on board thevehicle without being provided on board the UAV.

Directional antennas 1230 may also be referred to as beam antennas.Directional antennas may be capable of radiating greater power in one ormore directions relative to other directions. This may advantageouslypermit an increase performance of transmission of data in one or moreparticular directions. This may also permit increased performance ofreception of data from one or more particular directions. Optionally,the use of a directional antenna can reduce interference from unwantedsources. For example, signals from other directions may be weaker orless likely to be picked up. Some examples of directional antennas thatmay be employed may include Yagi-Uda antennas, log-periodic antennas,corner reflector, or any other type of directional antenna.

The directional antenna may have greater range of communications in oneor more directions. For example, a directional antenna may have anincreased range in a primary direction of communication relative to anomnidirectional antenna. The directional antenna may or may not have adecreased range in a direction that is not a primary direction ofcommunication relative to an omnidirectional antenna.

When the UAV 1210 is located in a primary direction of communicationrelative to the directional antenna, an increased range may be providedfor wireless communications between the UAV and the directional antenna.In some instances, a UAV may be capable of directly communicating with adirectional antenna on a companion vehicle 1220 at a distance of atleast 1 m, 5 m, 10 m, 20 m, 30 m, 40 m, 50 m, 60 m, 70 m, 80 m, 90 m,100 m, 120 m, 150 m, 170 m, 200 m, 220 m, 250 m, 300 m, 400 m, 500 m,600 m, 700 m, 800 m, 900 m, 1 km, 1.2 km, 1.5 km, 2 km, 2.5 km, 3 km,3.5 km, 4 km, 4.5 km, 5 km, 6 km, 7 km, 8 km, 9 km, 10 km, 12 km, 15 km,or 20 km when in the primary direction of communication. In otherinstances, the UAV may communicate with a directional antenna when thedistance is less than any of the distances described herein.

When the UAV is not located in a primary direction of communicationrelative to the directional antenna, a lesser range may be provided forwireless communication between the UAV and directional antenna, relativeto if the UAV were located in the primary direction of communication. Insome instances, the ratio of the less range when not in the primarydirection to the greater range when in the primary direction may be lessthan or equal to about 4:5, 3:4, 2:3, 1:2, 1:3, 1:4, 1:5, 1:6, 1:7, 1:8,1:9, 1:10, 1:12, 1:15, or 1:20. In other instances, the ratio may begreater than or equal to any of the ratio values described herein. Theratios may fall into a range falling between any two of the valuesdescribed herein.

A directional antenna 1230 may be capable of moving. The directionalantenna may change orientation by rotating about one or more axes ofrotation 1240 a, 1240 b. The directional antenna may be capable ofrotating about one or more, two or more, or three or more axes ofrotation. The axes of rotation may be orthogonal to one another. Theaxes of rotation may remain orthogonal to one another while thedirectional antenna is in motion. The axes of rotation may intersect oneanother. In some instances, the axes of rotation may intersect with abase of the directional antenna. The directional antenna may have apivot point. Optionally, the axes of rotation may all intersect at thepivot point. Optionally, the axes of rotation may be a pitch axis and/oryaw axis of rotation. A roll axis may or may not be provided. Thedirectional antenna may be used to adjust a lateral angular of thedirectional antenna. The directional antenna may be capable of changinga pitch and/or vertical angle of the directional antenna. Thedirectional antenna may be capable of panning about any range of angles.For example, the directional antenna may be capable of panning about 0to 360 degrees. The directional antenna may be capable of panning aboutat least 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees,150 degrees, 165 degrees, 180 degrees, 210 degrees, 240 degrees, 270degrees, 300 degrees, 330 degrees, 360 degrees, or 720 degrees. Thedirectional antenna may be capable of tilting downward or upward at anyangle. For example, the directional antenna may be capable of tiltingupwards at least 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45degrees, 60 degrees, 75 degrees, or 90 degrees. The directional antennamay be capable of tiling downwards up to at least 5 degrees, 10 degrees,15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, or 90degrees.

The directional antenna may be configured to be oriented so that theprimary direction of communication is in line with the UAV. The UAV maybe moving relative to the vehicle. The UAV may be in flight while theUAV is moving relative to the vehicle. The directional antenna may becapable of positioning itself so that the primary direction ofcommunication is aimed at the UAV, or is pretty close to the UAV. Insome instances, the primary direction of communication may be aimed towithin 45 degrees, 40 degrees, 35 degrees, 30 degrees, 25 degrees, 20degrees, 15 degrees, 10 degrees, 8 degrees, 7 degrees, 6 degrees, 5degrees, 4 degrees, 3 degrees, 2 degrees, or 1 degree of the directionat which the UAV is located.

The position of the UAV relative to the vehicle may be known. Locationinformation about the UAV and/or the vehicle may be gathered todetermine the location of the UAV relative to the vehicle. The locationof the UAV relative to the vehicle may include an angular direction ofthe UAV relative to the vehicle. This may include a lateral angulardirection as well as a vertical angular direction. This may include arelative altitude and relative lateral position of the UAV relative tothe vehicle.

A processor may calculate an angle at which to position the directionalantenna of the vehicle. This calculation may be made based on the knownrelative position between the UAV and the vehicle. Communications mayoccur, via the directional antenna, with the UAV. The calculated anglemay be to direct the primary direction of communication of the antennaat the UAV. As the UAV moves around in flight, the angle of thedirectional antenna may be updated to track the motion of the UAV. Insome instances, the directional antenna may be updated in real-time, andmay track the motion of the UAV in real time. In some instances, thedirectional antenna position may be updated periodically. Thedirectional antenna position may be updated with any frequency (e.g.,about every hour, every 10 minutes, every 5 minutes, every 3 minutes,every 2 minutes, every minute, every 45 seconds, every 30 seconds, every20 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every8 seconds, every 7 seconds, every 6 seconds, every 5 seconds, every 4seconds, every 3 seconds, every 2 seconds, every second, every 0.5seconds, every 0.1 seconds, or any other regular or irregular intervalof time). In some instances, the directional antenna position may beupdated in response to an event or a command. For example, if it isdetected that the UAV is moving outside of a particular angular range,the directional antenna may correct its orientation.

In some embodiments, calculation of the orientation of the directionalantenna may occur using one or more of the following steps. Such stepsare provided by way of example only and are not limiting. Steps can beprovided in different orders, removed, added, or exchanged for differentsteps.

A coordinate system conversion may occur. GPS may output data ingeodetic coordinates. In geodetic coordinates, the Earth's surface canbe approximated by an ellipsoid and locations near the surface may bedescribed in terms of latitude Φ, longitude λ and height h. AnEarth-centered, earth-fixed (ECEF) coordinate system may be a Cartesiancoordinate system. The ECEF coordinate system may represent positions asan X, Y, and Z coordinate. Local east, north, up (ENU) coordinates canbe formed from a plane tangent to the Earth's surface fixed to aspecific location, and hence may sometimes be known as a “local tangent”or “local geodetic” plane. The east axis may be labeled x, the north yand the up z. In order for navigating calculations, the GPS locationdata may be converted into the ENU coordinate system. The conversion maycontain two steps:

-   -   1) The data is converted from geodetic system to ECEF.

X = (N(φ) + h)cos  φ cos  λ Y = (N(ϕ) + h)cos  φ sin  λZ = (N(φ)(1 − e²) + h)sin  φ where${N(\varphi)} = \frac{a}{\sqrt{1 - {e^{2}\sin^{2}\varphi}}}$

-   -   -   a and e are the semi-major axis and the first numerical            eccentricity of the ellipsoid respectively. N(Φ) is called            the Normal and is the distance from the surface to the            Z-axis along the ellipsoid normal.

    -   2) The data in ECEF system may then be converted to ENU        coordinate system.        -   To transform from ECEF to the ENU system, the local            reference may be chosen to the location when the USV just            receives a mission is sent to the USV.

$\begin{bmatrix}x \\y \\z\end{bmatrix} = {\begin{bmatrix}{{- \sin}\; \lambda_{r}} & {\cos \; \lambda_{r}} & 0 \\{{- \sin}\; \varphi_{r}\cos \; \lambda_{r}} & {{- \sin}\; \varphi_{r}\sin \; \lambda_{r}} & {\cos \; \varphi_{r}} \\{\cos \; \varphi_{r}\cos \; \lambda_{r}} & {\cos \; \varphi_{r}\sin \; \lambda_{r}} & {\sin \; \varphi_{r}}\end{bmatrix}\begin{bmatrix}{X - X_{r}} \\{Y - Y_{r}} \\{Z - Z_{r}}\end{bmatrix}}$

The distance between two points may be calculated. In someimplementations, the Haversine Formula may be used to give that thedistance from two points A and B on the Earth surface is that,

$\begin{matrix}{d_{A - B} = {2\; {\arcsin \left( \sqrt{{\sin^{2}\left( \frac{\Delta \; \varphi}{2} \right)} + {\cos \; \varphi_{A}\cos \; \lambda_{B}{\sin^{2}\left( \frac{\Delta \; \lambda}{2} \right)}}} \right)}R_{e}}} & (1)\end{matrix}$

where ΔΦ=Φ_(A)-Φ_(B), Δλ=λ_(A)-λ_(B), and R_(e) is the radius of theEarth.

In some embodiments, a desired heading calculation may be made. Thecurrent position and target position in ENU coordinates may be denotedas (x_(c), y_(c)) and (x₀,y₀), respectively. The desired angle (−180,180] between the current point and the destination may be calculated asfollows.

$\begin{matrix}\left\{ \begin{matrix}{{{- 180}{^\circ}},{{{if}\mspace{14mu} {{x_{c} - x_{v}}}} \leq {1\mspace{14mu} {and}\mspace{14mu} y_{c}} > y_{v}}} \\{0,{{{if}\mspace{14mu} {{x_{c} - x_{v}}}} \leq {1\mspace{14mu} {and}\mspace{14mu} y_{c}} > y_{v}}} \\{{{90{^\circ}} - {\arctan \left( \frac{y_{c} - y_{t}}{x_{c} - x_{t}} \right)}},{{{{if}\mspace{14mu} x_{c}} - x_{v}} < 0}} \\{{{{- 90}{^\circ}} - {\arctan \left( \frac{y_{c} - y_{t}}{x_{c} - x_{t}} \right)}},{{{{if}\mspace{14mu} x_{c}} - x_{v}} \geq 0}}\end{matrix} \right. & (2)\end{matrix}$

A vertical angle for the directional antenna may be calculated. Thevertical angle of the antenna may be calculated using a trianglerelationship shown in FIG. 12B. The distance between the vehicle and theUAV, denoted as d, may be calculated using equations described above(e.g., equation (1)), such as the equation for calculating distancebetween two points (e.g., Haversine Formula). θ may be the verticalangle of the antenna. Δh may be the altitude difference between thevehicle and the UAV. d may be the distance between the car and the UAV.tan θ=Δh/d, so the vertical angle at which to orient the directionalantenna may be equal to arctan (Δh/d).

A horizontal angle for the directional antenna may also be calculated.The latitude and longitude information in geodetic coordinates may beconverted to the ECEF system as stated in the previous steps. By usingthe triangle relationship, the desired angle of the antenna can becalculated using equation (2). As illustrated in FIG. 12C, the latitudeand longitude of points A and B can be first converted to an ECEFsystem. The desired angle of the antenna θ may be calculated based onthe triangle relation. In the context of the horizontal angle, θ may bea heading angle.

The directional antenna bearing may be calculated using any of thetechniques described herein. The calculations may be made with aid ofone or more processors, collectively or individually performing any ofthe steps described.

The processor may be on-board the vehicle. The processor may be on-boarda docking station of a vehicle and/or the directional antenna of thevehicle. The processor may send a command signal to one or moreactuators of the directional antenna to effect movement of thedirectional antenna. Actuation of one or more motors may cause thedirectional antenna to rotate about one or more axes. In some instances,each axis of rotation may have a dedicated actuator. In other instances,a single actuator may control multiple axes of rotation.

A directional antenna 1230 may have any shape or morphology. In someinstances, the directional antenna may have a dish shape. Thedirectional antenna may have a substantially hemispherical shape and/orrounded circular shape. The directional antenna may be capable offunctioning as a cover for a UAV 1210 when the UAV is docked. Thedirectional antenna may cover the UAV when the UAV is docked to thevehicle 1220. The directional antenna may partially or completelyenclose the UAV when the UAV is docked to the vehicle. The directionalantenna may have a maximum dimension that is greater than a maximumdimension of the UAV. The directional antenna may function as a cover,and may have any characteristic of a cover as described elsewhereherein.

In some instances, the directional antenna 1230 may cover a UAV 1210while the UAV is docked to the vehicle 1220. The directional antenna maycover the UAV while the vehicle is in motion. A hemispherical portion ofthe directional antenna may overly the UAV when the UAV is docked. Aninstruction may be provided for the UAV to take off from the vehicle.The directional antenna may move to uncover the UAV. The UAV may takeoff from the vehicle. The directional antenna may change orientation totrack to the motion of the UAV. A primary direction of communication forthe directional antenna may fall within an angular range of the UAV. Theangular range may have any angular value as described elsewhere herein.An instruction may be provided for the UAV to land. The UAV may dockwith the vehicle. The directional antenna may be repositioned to coverthe UAV.

The directional antenna may be used to aid in direct communicationsbetween the UAV and the vehicle. In other instances, the directionalantenna may be used to aid in indirect communications between the UAVand the vehicle. If the directional antenna is aiding in indirectcommunications, the directional antenna may not need to track to themotion of the UAV. The directional antenna may adjust position to beoriented toward an intermediary device that may aid in indirectcommunications between the UAV and the vehicle.

In some implementations, direct communications and indirectcommunications may be permitted between a UAV and a vehicle. In someinstances, the UAV and/or vehicle may be capable of switching betweendifferent modes of communication.

FIG. 13 shows examples of direct and indirect communications between aUAV and a vehicle in accordance with an embodiment of the invention. AUAV 1310 may communicate with a companion vehicle 1320. In someinstances, direct communication 1340 may be provided between the UAV andthe vehicle. In other instances, indirect communications 1350, 1360 mayoccur between the UAV and the vehicle, with the aid of one or moreintermediary device.

The UAV 1310 may wirelessly communicate with a companion vehicle 1320.The wireless communication may include data from the UAV to the vehicleand/or data from the vehicle to the UAV. In some instances, the datafrom the vehicle to the UAV may include commands that may control theoperation of the UAV. The UAV may be capable of taking off from itscompanion vehicle and/or landing on its companion vehicle.

In some instances, the UAV 1310 may communicate with the companionvehicle 1320 directly. A direct communication link 1340 may beestablished between the UAV and the companion vehicle. The directcommunication link may remain in place while the UAV and/or thecompanion vehicle are in motion. The UAV and/or the companion vehiclemay be moving independently of one another. Any type of directcommunication may be established between the UAV and vehicle. Forexample, WiFi, WiMax, COFDM, Bluetooth, IR signals, directional antennasor any other type of direct communication may be employed. Any form ofcommunication that occurs directly between two objects may be used orconsidered.

In some instances, direct communications may be limited by distance.Direct communications may be limited by line of sight, or obstructions.Direct communications may permit fast transfer of data, or a largebandwidth of data compared to indirect communications.

Indirect communications may be provided between the UAV 1310 and thecompanion vehicle 1320. Optionally, indirect communications may includeone or more intermediary device 1330 between the vehicle and theexternal device. In some examples the intermediary device may be asatellite, router, tower, relay device, or any other type of device.Communication links may be formed between a UAV and the intermediarydevice 1350 and communication links may be formed between theintermediary device and the vehicle 1360. Any number of intermediarydevices may be provided, which may communicate with one another. In someinstances, indirect communications may occur over a network, such as alocal area network (LAN) or wide area network (WAN), such as theInternet. In some instances, indirect communications may occur over acellular network, data network, or any type of telecommunicationsnetwork (e.g., 3G, 4G). A cloud computing environment may be employedfor indirect communications.

In some instances, indirect communications may be unlimited by distance,or may provide a larger distance range than direct communications.Indirect communications may be unlimited or less limited by line ofsight or obstructions. In some instances, indirect communications mayuse one or more relay device to aid in direct communications. Examplesof relay devices may include, but are not limited to satellites,routers, towers, relay stations, or any other type of relay device.

A method for providing communications between an unmanned aerial vehicleand a vehicle may be provided, where the communication may occur via anindirect communication method. The indirect communication method maycomprise communication via a mobile phone network, such as a 3G or 4Gmobile phone network. The indirect communications may use one or moreintermediary devices in communications between the vehicle and the UAV.The indirect communication may occur when the vehicle is in motion.

Any combination of direct and/or indirect communications may occurbetween different objects. In one example, all communications may bedirect communications. In another example, all communications may beindirect communications. Any of the communication links described and/orillustrated may direct communication links or indirect communicationlinks. In some implementations, switching between direct and indirectcommunications may occur. For example, communication between a vehicleand a UAV may be direct communication, indirect communication, orswitching between different communication modes may occur. Communicationbetween any of the devices described (e.g., vehicle, UAV) and anintermediary device (e.g., satellite, tower, router, relay device,central server, computer, tablet, smartphone, or any other device havinga processor and memory) may be direct communication, indirectcommunication, or switching between different communication modes mayoccur.

In some instances, the switching between communication modes may be madeautomatically without requiring human intervention. One or moreprocessors may be used to determine to switch between an indirect anddirect communication method. For example, if quality of a particularmode deteriorates, the system may switch to a different mode ofcommunication. The one or more processors may be on board the vehicle,on board the UAV, on board a third external device, or any combinationthereof. The determination to switch modes may be provided from the UAV,the vehicle, and/or a third external device.

In some instances, a preferable mode of communication may be provided.If the preferable mode of communication is inoperational or lacking inquality or reliability, then a switch may be made to another mode ofcommunication. The preferable mode may be pinged to determine when aswitch can be made back to the preferable mode of communication. In oneexample, direct communication may be a preferable mode of communication.However, if the UAV flies too far away, or obstructions are providedbetween the UAV and the vehicle, the communications may switch to anindirect mode of communications. In some instances, directcommunications may be preferable when a large amount of data istransferred between the UAV and the vehicle. In another example, anindirect mode of communication may be a preferable mode ofcommunication. If the UAV and/or vehicle needs to quickly transmit alarge amount of data, the communications may switch to a direct mode ofcommunications. In some instances, direct communications may bepreferable when the UAV is flying at significant distances away from thevehicle and greater reliability of communication may be desired.

Switching between communication modes may occur in response to acommand. The command may be provided by a user. The user may be anoperator and/or passenger of the vehicle. The user may be an individualcontrolling the UAV.

In some instances, different communication modes may be used fordifferent types of communications between the UAV and the vehicle.Different communication modes may be used simultaneously to transmitdifferent types of data.

FIG. 14 shows an example of communication flow in accordance with anembodiment of the invention. A UAV and vehicle may communicate with oneanother. For example, commands may be transmitted between the UAV andthe vehicle. In some instances, images may be transmitted between a UAVand vehicle. UAV parameter data may be transmitted between the UAV andthe vehicle.

Various communication units may be provided between the UAV and thevehicle. For example, a command receiver portion A, an imagetransmission portion B, and an aircraft parameter transmission portion Cmay be provided for a UAV. These portions may be provided on-board theUAV. A command transmission portion D, user command input portion G,image receiver portion E, aircraft parameter receiver portion F, andmonitor H may be provided for a vehicle. These portions may be providedon-board the vehicle.

Control commands may be provided from a vehicle to a UAV. A user mayinput a command via a user command input portion G from the vehicle'send. The user may be an operator of the vehicle and/or a passenger ofthe vehicle. A user may be any individual that may be controlling theUAV. The user may be manually controlling the UAV in real-time. The usermay be selecting one or more commands to send to the UAV, and the UAVmay fly autonomously and/or semi-autonomously in response to thecommands. The user may be controlling the UAV while driving the vehicle.In other instances, the user controlling the UAV may not be the driverof the vehicle.

The user command input portion G may be provided within the vehicle. Insome instances, as discussed in greater detail further below, the usercommand input portion may be part of the vehicle. The user command inputportion may be built-into the vehicle and/or may not be removable fromthe vehicle. The user command input portion may be separable and/orremovable from the vehicle. The user command input portion may be freelybrought in or out of the vehicle.

The user command input portion may receive an input in any manner, suchas those described in greater detail below. In some examples, the inputmay be provided via touch (e.g., touchscreen, button, joystick, slider,switch), audio signal (e.g., voice commands), detected images (e.g.,gesture recognition, blinking or eye movements), positioning of theportion (e.g., via inertial sensors sensing tilt, movement, etc.).

A command transmission portion D may transmit the command from the usercommand input portion G to the UAV. The command transmission portion maywirelessly transmit the information, or transmit the information via awired connection. The command may be received by a command receiverportion A on board the UAV.

In some instances, the commands between the command transmission portionD of the vehicle and the command receiver portion A of the UAV may bedirect communications. Point-to-point direct communications may beemployed to transmit control commands from a vehicle to a UAV.

The user may send any type of command to the UAV. The command maycontrol the motion of the UAV. The command may control the flight of theUAV. The command may control the takeoff and/or landing of the UAV. Thecommand may be a direct manual control of the motion of the UAV. Thecommand may directly correspond to rotation of one or more rotorson-board the UAV. The command may be used to control the position,orientation, velocity, angular velocity, acceleration, and/or angularacceleration of the UAV. The command may cause the UAV to increase,decrease, or maintain altitude. The command may cause the UAV to hoverin place. The command may include instructions to initiate a presetsequence or flight mode. For example, the command may initiate asequence that causes the UAV to take off and/or land on the vehicle. Thecommand may initiate a sequence that causes the UAV to fly with aparticular pattern relative to the vehicle.

The command may also control a component of the UAV, such as a payloador sensor. For example, the command may control operation of thepayload. The command may manually control operation of the payloadand/or cause the payload to operate in a preset manner. The command maycause the payload to operate autonomously or semi-autonomously. Thecommand may affect the orientation of the payload. The command may causethe payload to alter or maintain its orientation relative to the UAV.The payload may be instructed to rotate about one or more axes, two ormore axes, or three or more axes. Other functions of the payload may becontrolled remotely, such as when the payload is camera, instructionsmay be provided whether to zoom in or out, whether to enter a staticimage or video shooting mode, whether to adjust the image resolution orquality, or any other type of image capturing modes. In another example,if the payload is an illumination device, the degree or illumination maybe controlled, the illumination device may be turned on or off, or ablinking pattern provided by the illumination device.

The command may control any sensor of the UAV. For example, the commandmay affect operation of a GPS receiver, inertial sensor, ultrasonicsensor, lidar, radar, wind sensor, temperature sensor, magnetic sensor,or any other component of the UAV. The command may cause the UAV to sendback data regarding the state of the UAV or the surrounding environment.

In some embodiments, it may be important that the UAV be reliablycontrolled by a user in the vehicle. Thus, the commands sent by the usercontrolling the UAV may need to be reliable. In some instances, thecommunications from the command transmission portion D to the commandreceiver portion A may use frequency hopping spread spectrum (FHSS)techniques. Thus, radio signals may be sent from the commandtransmission portion to the command receiver portion by rapidlyswitching a carrier among many frequency channels. In some instances,the sequence may be a pseudorandom sequence known by both thetransmission portion and the receiver portion. FHSS may advantageouslybe resistant to narrowband interference. The spread-spectrum signals maybe difficult to intercept and may appear as background noise to anarrowband receiver. FHSS techniques may also share a frequency bandwith many types of conventional transmissions with minimal interference.The spread-spectrum signals may add minimal noise to thenarrow-frequency communications, and vice versa.

Image data may be provided from a UAV to a vehicle. An image may becaptured using an image capturing device on-board the UAV, such as acamera. An image transmission portion B may transmit the image to animage receiver portion E. The image receiver portion may optionallycause the image to be displayed on a monitor H. The image transmissionportion may be provided on-board the UAV. The image receiver portion maybe provided on-board the vehicle. The monitor may optionally be providedon-board the vehicle.

Images from a UAV camera may be transmitted to a vehicle in real-time.The images may be displayed on a vehicle monitor. The images may becaptured with aid of a camera. The camera may be a high-resolutioncamera. The camera may be capable of capturing images and having aresolution of at least 1 MP, 2 MP, 3 MP, 4 MP, 5 MP, 6 MP, 7 MP, 8 MP, 9MP, 10 MP, 11 MP, 12 MP, 13 MP, 14 MP, 15 MP, 16 MP, 18 MP, 20 MP, 24MP, 26 MP, 30 MP, 33 MP, 36 MP, 40 MP, 45 MP, 50 MP, 60 MP, or 100 MP.The camera may optionally take pictures having fewer megapixels than anyof the values described. The camera may be able to take pictures havingmegapixels falling into a range between any two of the values describedherein. The resolution of the images to be captured may be modified inresponse to a command or a detected condition. For example, a user maybe able to specify for a camera to take images in a high-resolutionmode, or in a lower resolution mode.

The images may include still images (snapshots) or moving images (e.g.,streaming video). Images may be captured at a video rate. In someinstances, images may be captured at greater than about 10 Hz, 20 Hz, 30Hz, 35 Hz, 40 Hz, 45 Hz, 50 Hz, 55 Hz, 60 Hz, 65 Hz, 70 Hz, 75 Hz, 80Hz, 85 Hz, 90 Hz, 95 Hz, or 100 Hz frequency. The images may be capturedat a rate lower than any of the values described herein. The images maybe captured at a rate falling between any two of the frequenciesdescribed herein.

The camera may be capable of moving relative to the UAV. The camera maybe supported by a carrier that may permit the camera to move about oneor more axes, two or more axes, or three or more axes of rotation. Thecarrier may or may not permit translation of the camera in onedirection, two directions, three directions or more. In some instances,the carrier may include a gimbal arrangement that may permit rotation ofone or more frame assembly relative to another frame assembly and/or theUAV. The camera may be oriented to a desired orientation to capture animage to be transmitted.

The image captured by the camera may be transmitted using an imagetransmission portion B. The image transmission portion may be providedon board the UAV. The image transmission portion may be part of thecamera. For example, the camera of the UAV may transmit the image datadirectly. In another example, the image transmission portion may be onboard the UAV without being part of the camera. For example, the cameramay communicate the image data to a separate image transmission portion,which may transmit the image data. The camera may be connected to theimage transmission portion via a wired or wireless connection.

An image transmission portion B may transmit the image data to thevehicle. The image transmission portion may wirelessly transmit theinformation, or transmit the information via a wired connection. Theimage data may be received by an image receiver portion E on board thevehicle. The image receiver portion may or may not be part of thevehicle itself. For example, the image receiver portion may be removableand/or separable from the vehicle.

In some instances, the image data between the image transmission portionB of the UAV and the image receiver portion E of the vehicle may beprovided direct communications. Point-to-point direct communications maybe employed to transmit image data from the UAV to the vehicle. Inalternative embodiments, indirect communications may be used to transmitthe image data from the UAV to the vehicle.

Optionally, the transmission of image data may take up more bandwidththan the transmission of commands to the UAV. In some instances, aquicker connection may be desired to permit greater rates of datatransfer. Also optionally, it may be less critical for the image datatransmission to be reliable relative to the command data to the UAV.Thus, reliability of the communication link from the UAV to the vehiclemay be less important. In some instances, the communications from theimage transmission portion B to the image receiver portion E may use apoint-to-point technique, such as WiFi, WiMax, COFDM, IR, Bluetooth, orany other type of point-to-point technique. In some instances, thecommunications may use indirect techniques, such as a public mobilenetwork, or any telecommunications networks, such as those describedherein.

Optionally a single mode of communication may be used for the image datatransmission. In other instances, modes of communication may be switcheddepending on detected conditions. For example, a default directcommunication may be used to transmit image data. However, when thedirect communication link becomes less reliable, the communication modemay be switched to transmit data via an indirect communication link.Once the direct communication link is determined to be reliable again,the communication mode may switch back to the direct communication link.In other instances, no default mode may be provided, and the switchingmay occur when it is detected that the current communication mode is nolonger performing as well, or when the other connection is morereliable. A user may not be able to dictate when the communication modesmay switch. Alternatively, the communication modes may switchautomatically without requiring user input. A processor may use data tomake an assessment whether to switch communication modes.

The image data received by the image receiver portion E may be displayedon a monitor H. The monitor may be on board the vehicle. The monitor maybe built into the vehicle and/or integral to the vehicle. The monitormay be any object within or on-board the vehicle. The monitor may or maynot be removable and/or separable from the vehicle. It may or may not bepossible to take the monitor out of the vehicle or off-board thevehicle. The monitor may or may not be portable. The connection betweenthe image receiver portion and the monitor may be wired or wireless.

The monitor may include a user interface that may display data. The userinterface may include a screen, such as a touchscreen, or any other typeof display. The monitor may be capable of displaying images based on theimage data received from the image receiver portion. The images mayinclude real-time images captured by the camera on-board the UAV. Thismay include real-time streaming video that is captured by the UAVcamera. The images may be displayed on the monitor on board the vehiclewithin less than about 30 seconds, 20 seconds, 10 seconds, 5 seconds, 3seconds, 2 seconds, 1.5 seconds, 1 seconds, 500 ms, 300 ms, 100 ms, 50ms, 10 ms, 5 ms, or 1 ms of being captured by the camera on board theUAV. The images may be displayed in high definition or in lowdefinition. The images may be displayed at the resolution they arecaptured, or at a lower resolution than that they are captured. Theimages may be displayed at the frame rate at which they are captured, orat a lower frame rate than at which they are captured.

A user on-board the vehicle may be able to see the images displayed onthe monitor. The user on-board the vehicle may advantageously be able tosee images captured by the UAV, which may show images of objects orlocations that may otherwise not be viewable from the user whileon-board the vehicle. The user may have a bird's eye view of the user'ssurrounding environment on the monitor.

Aircraft parameter data may be provided from a UAV to a vehicle. Theaircraft parameter data may include information about the state of theUAV and/or data captured by sensors of the UAV. An aircraft parametertransmission portion C may transmit the aircraft parameter data to anaircraft parameter receiver portion F. The aircraft parameter receiverportion may optionally cause the image to be displayed on a monitor H.The aircraft parameter transmission portion may be provided on-board theUAV. The aircraft parameter receiver portion may be provided on-boardthe vehicle. The monitor may optionally be provided on-board thevehicle.

Aircraft parameter data may be transmitted to a vehicle in real-time.The aircraft parameter data or information generated based on theaircraft parameter data may be displayed on a vehicle monitor. Theaircraft parameter data may include any data relating to a state of theaircraft and/or data captured by one or more sensors of the aircraft.

In some embodiments, the state of the aircraft may include positionaldata relating to the aircraft. For example, the positional data mayinclude location of the aircraft (e.g., coordinates such as latitude,longitude, and/or altitude), orientation of the aircraft (e.g., about apitch axis, yaw axis, and/or roll axis), velocity of the aircraft,angular velocity of the aircraft, acceleration of the aircraft, and/orangular acceleration of the aircraft. In some instances, one or moreinertial sensors and/or location related sensors (e.g., GPS, visionsensors, lidar, ultrasonic sensors) may aid in determining position datafor the aircraft. The state of the aircraft may include other data, suchas temperature of the aircraft or one or more components of theaircraft. One or more temperature sensors may aid in determining thetemperature of the aircraft. The state of the aircraft may include otherdata, such as the state of charge of a battery of the aircraft. Thestate of the aircraft may also detect whether an error condition isprovided for the aircraft or any components of the aircraft. The stateof the aircraft may include whether one or more receiver is notreceiving signals, or one or more components of the aircraft is notoperating as expected.

Data collected by one or more sensors of the aircraft may includeenvironmental data for the aircraft. For example, environmental data mayinclude temperature, wind speed and/or direction, presence or absence ofprecipitation, detected obstacles or obstructions, detected noise orsignal interference, or any other data that may be picked up by a sensorof the aircraft. Examples of aircraft sensors may include but are notlimited to vision sensors, infrared sensors, lidar, radar, sonar,ultrasonic sensors, inertial sensors (e.g., accelerometers, gyroscopes,magnetometers), magnetic sensors, electric field sensors, acousticsensors, microphones, or any other type of sensors.

In some instances, the aircraft parameter data may be useful forcontrolling the aircraft. In some instances, one or more commands may begenerated in response to aircraft parameter data received. The commandsmay be manually generated by a user who may consider the aircraftparameter data received. In other examples, the commands may beautomatically generated by a processor that may use the aircraftparameter data to formulate the commands.

The aircraft parameter data may be transmitted using an aircraftparameter transmission portion C. The aircraft parameter transmissionportion may be provided on board the UAV. The aircraft parametertransmission portion may be part of a sensor or component of the UAV. Inanother example, the aircraft parameter transmission portion may be onboard the UAV without being part of the sensor or other component. Forexample, a sensor may communicate the aircraft parameter data to aseparate aircraft parameter transmission portion, which may transmit theaircraft parameter data. The sensor may be connected to the aircraftparameter transmission portion via a wired or wireless connection.

An aircraft parameter transmission portion C may transmit the aircraftparameter data to the vehicle. The aircraft parameter transmissionportion may wirelessly transmit the information, or transmit theinformation via a wired connection. The aircraft parameter may bereceived by an aircraft parameter receiver portion F on board thevehicle. The aircraft parameter receiver portion may or may not be partof the vehicle itself. For example, the aircraft parameter receiverportion may be removable and/or separable from the vehicle.

In some instances, the data between the aircraft parameter transmissionportion C of the UAV and the aircraft parameter receiver portion F ofthe vehicle may be provided via direct communications. Point-to-pointdirect communications may be employed to transmit aircraft parameterdata from the UAV to the vehicle. In alternative embodiments, indirectcommunications may be used to transmit the aircraft parameter data fromthe UAV to the vehicle.

In some instances, the communications from the aircraft parametertransmission portion C to the aircraft parameter receiver portion F mayuse a point-to-point technique, such as WiFi, WiMax, COFDM, IR,Bluetooth, or any other type of point-to-point technique. In someinstances, the communications may use indirect techniques, such as apublic mobile network, or any telecommunications networks, such as thosedescribed herein.

In some instances, narrow band frequency-shift keying (FSK), gaussianfrequency-shift keying (GFSK), or other modulation techniques may beused. The data may be transmitted via a frequency modulation schemewhere digital information is transferred through discrete frequencychanges of a carrier wave. Alternatively, the aircraft parameter datamay be embedded in the image data signal (e.g., embedded in a videosignal).

Optionally a single mode of communication may be used for the aircraftparameter data transmission. In other instances, modes of communicationmay be switched depending on detected conditions. For example, a defaultdirect communication may be used to transmit aircraft parameter data.However, when the direct communication link becomes less reliable, thecommunication mode may be switched to transmit data via an indirectcommunication link. Once the direct communication link is determined tobe reliable again, the communication mode may switch back to the directcommunication link. In other instances, no default mode may be provided,and the switching may occur when it is detected that the currentcommunication mode is no longer performing as well, or when the otherconnection is more reliable. A user may not be able to dictate when thecommunication modes may switch. Alternatively, the communication modesmay switch automatically without requiring user input. A processor mayuse data to make an assessment whether to switch communication modes.

Aircraft parameter data transmitted back to vehicles may be important.Thus it may be desirable to provide a reliable connection. If theaircraft exceeds a point-to-point communication range with the vehicle(e.g., such as a controller's control range), a safer method may be forthe vehicle and the aircraft to also maintain communication, so that theaircraft and the vehicle can know one another's positions. Thus, it maybe desirable for the aircraft and the vehicle to be able to communicateusing an indirect communication method, such as using mobile phonenetworks, so as to obviate a communication range limitation that may beprovided using point-to-point communication techniques.

The aircraft parameter data received by the aircraft parameter receiverportion F may be displayed on a monitor H. The monitor may be on boardthe vehicle. The monitor may be built into the vehicle and/or integralto the vehicle. The monitor may be any object within or on-board thevehicle. The monitor may or may not be removable and/or separable fromthe vehicle. It may or may not be possible to take the monitor out ofthe vehicle or off-board the vehicle. The monitor may or may not beportable. The connection between the aircraft parameter receiver portionand the monitor may be wired or wireless. The monitor displaying theaircraft parameter data may be the same monitor as a monitor displayingimage data. Alternatively, separate monitors may be provided. In someinstances, a single monitor may be used to show aircraft parameter data.Alternatively, multiple monitors may be used to show aircraft parameterdata.

The monitor may include a user interface that may display data. The userinterface may include a screen, such as a touchscreen, or any other typeof display. The monitor may be capable of displaying data relating tothe aircraft parameter data received from the aircraft parameterreceiver portion. The data may be shown in real time. The aircraftparameter data or data generated based on the aircraft parameter datamay be displayed on the monitor on board the vehicle within less thanabout 30 seconds, 20 seconds, 10 seconds, 5 seconds, 3 seconds, 2seconds, 1.5 seconds, 1 seconds, 500 ms, 300 ms, 100 ms, 50 ms, 10 ms, 5ms, or 1 ms of being sensed or captured on board the UAV.

A user on-board the vehicle may be able to see information relating tothe aircraft parameter data displayed on the monitor. The data mayinclude words, numerical values, and/or images. In one example, thelocation of the UAV may be indicated on the monitor. For instance, a mapmay be provided showing the location of the UAV relative to the vehicleand/or a geographic feature. Examples of geographic features may includeroads, structures, city lines, bodies of water, mountains, or otherenvironmental features. The data may optionally show a visualrepresentation of the UAV and one or more component of the UAV that maybe malfunctioning or in an error state. In another example, the data mayinclude a visual indicator of the level of charge of a battery of theUAV.

In some embodiments, for any of the communications provided between oneor more component of or on-board the UAV or the vehicle, point-to-pointcommunications may be desirable. It may also be desirable to permitindirect communication between the UAV and the vehicle. For anycommunication method, it may be desirable to provide a backupcommunication method. In some instances, it may be desirable to providea backup communication method that can come into effect when the UAVexceeds a point-to-point communication range or when there are obstacleblocking the communication. It may be desirable to provide a backupcommunication method that may come into effect where there isinterference or noise impeding efficacy of a primary communicationmethod. It may be desirable to provide a backup communication methodwhen a primary communication method may be hacked or hijacked by aninterloper. It may be desirable to provide a backup communication methodwhen the primary communication method becomes unreliable or compromisedin quality for any reason.

FIG. 15 shows an example of a UAV control mechanism in accordance withan embodiment of the invention. The UAV control mechanism may be part ofa vehicle. The UAV control mechanism may be added to the vehicle at amanufacturer site. The UAV control mechanism may be integral to thevehicle and/or not designed to be separable or removed from the vehicle.The UAV control mechanism may be built into a normal component of thevehicle.

The UAV control mechanism may be a user input component through which auser may input a command that may control the UAV or a component of theUAV. The UAV control mechanism may accept a user command that may resultin affecting the flight of the UAV. The user command may includemanually controlling the flight of the UAV. For example, the user maydirectly control the position, location (e.g., latitude, longitude,altitude), orientation, speed, angular velocity, acceleration, and/orangular acceleration of the UAV. The user command may initiate apredetermined flight sequence of the UAV. For example, the user commandmay cause the UAV to undock and/or take off from a vehicle. The usercommand may cause the UAV to dock with and/or land on a vehicle. Theuser command may cause the UAV to fly in accordance with a preset pathrelative to the vehicle. The user command may cause the UAV to flyautonomously or semi-autonomously.

The user command may control any other component of the UAV as describedelsewhere herein. For example, the UAV control mechanism may accept auser input that may control a payload on board the UAV, such as a cameraor illumination device, a carrier of the UAV, one or more sensors of theUAV, or any other features of the UAV. In some instances, the commandmay result in controlling positioning of a payload, sensor, or any othercomponent of the UAV. The command may result in controlling operation ofthe payload, sensor, or any other component of the UAV. The user controlmechanism may be capable of accepting a single type of input from theuser or a variety of inputs from the user.

The UAV control mechanism may be built into the vehicle. For example,the UAV control mechanism may include one or more user input componentsthat are built into a steering wheel of the vehicle, as illustrated inFIG. 15A. The steering wheel may be used to control the direction of thevehicle. The steering wheel may turn about an axis. The axis may passthrough a central region or shaft of the steering wheel. For example,the steering wheel 1510 may include one or more buttons 1520 a, 1520 bthat may accept user inputs. The user input components may be any typeof user interface or input device. For example, the user inputcomponents can include buttons, switches, knobs, joysticks, trackballs,mouse, keyboards, touchpads, touchscreens, light pointer, image capturedevices, thermal imaging devices, microphones, inertial sensors, or anyother user input components or combinations thereof. The user inputcomponents may be wearable user input components. For example, the userinput components may be worn by a driver and/or passenger of thevehicle. The user input components may be worn on a user's head, face,neck, arms, hands, torso, legs, or feet.

A user input may be any type of input from a user. For example, theinput may be a touch input from a user, a voice input from a user, agesture from a user, a facial expression of a user, an adjustment of anorientation or position of a body part of the user, or any other type ofinput from a user. The user input may be provided while the vehicle isoperational. The user input may be provided while the vehicle is moving.The user input may be provided while the vehicle is idling orstationary. The user input may be provided while the user is operatingthe vehicle. The user input may be provided while the user is drivingthe vehicle. The user may optionally be a passenger of the vehicle. Theuser input may be provided while the user is within the vehicle.

FIG. 15B shows an additional example of a UAV control mechanism. Forexample, a steering wheel may be provided 1510 and may not have any userinput components thereon. A display panel 1530 may be provided for thevehicle. The display panel may optionally be built into the vehicle. Thedisplay panel may be an integral screen to the vehicle. Alternatively,the display panel may be separable and/or removable from the vehicle.One or more user input components 1540 a, 1540 b may be provided. Theuser input components may be regions on a touchscreen. A user may toucha region of a display in order to provide user commands.

In other examples, the user input component may be built into anycomponent of the vehicle, such as a steering wheel, dashboard, built-inmonitor, seat, window, mirror, shift stick, door panel, foot pedal,floor, cup-holder, or any other part of the vehicle. For example, theshift stick, which may be used to change between different drive or gearmodes, may have an input component built therein. For example, the shiftstick may permit a vehicle operator to switch between drive, neutral,reverse, or different gear levels. The user input component may bewithin arm's reach of a driver of the vehicle. The user input componentmay be within arm's reach of a passenger of the vehicle. The user inputcomponent may be within leg's reach of the driver and/or passenger ofthe vehicle. The user input component may be within the line of sight ofthe driver and/or passenger of the vehicle. The user input component maybe within the line of sight of the driver and/or passenger of thevehicle when the driver and/or passenger is facing substantiallyforward. In one example, the user input component may be designed sothat the driver may be able to provide a user command without taking thedriver's eyes off the road. This may advantageously permit operation ofthe UAV in a safer manner.

In one example, when a user is providing commands via a user inputcomponent on a steering wheel, a user may be able to keep the user'seyes on the roads and the user's hands on the steering wheel. In someinstances, the user may be able to manipulate controls on a steeringwheel to directly manually control the flight of the UAV. For example,manipulating a particular control may cause the UAV to adjust its angle,speed, and/or acceleration (e.g., spatial, and/or rotational) in anamount corresponding to the manipulation of the control. A linearcorrelation, exponential correlation, reverse correlation, or any othertype of correlation may be provided between a user input and acorresponding reaction by the UAV during manual control.

In another example, depressing a button, or other simple inputs maycause the UAV to execute a predetermined flight sequence. In oneexample, pressing a first button 1520 a may cause the UAV to take offfrom a vehicle, while pressing a second button 1520 b may cause a UAV toland on the vehicle. In another example, a first button may cause a UAVto fly in a first flight pattern with respect to the vehicle, andpressing a second button may cause the UAV to flight in a second flightpattern with respect to the vehicle. This may permit the UAV to executecomplicated maneuvers without requiring much involvement or engagementby the user. This may be advantageous in situations where the user is adriver who needs to pay attention to driving the vehicle.

Additionally, other remote control components may be provided in thevehicle. For example, besides a takeoff and return button, a set ofremote control joysticks may be provided. In some instances, the remotecontrol joysticks may be accessible by a driver of a car, or by apassenger of a car. In some embodiments, the remote control joysticksmay be accessible by both the driver and the passenger of the car. Adriver or passenger may use the remote control joysticks to control theaircraft according to image data that may be transmitted to a monitor inthe vehicle. The remote control joysticks may be affixed to a portion ofthe vehicle or may be provided on a tether or may be movable relative tothe portion of the vehicle. For example, the remote control joysticksmay be passed from occupant to occupant of the vehicle.

Examples of simple inputs that may not require much driver engagementmay include pressing a button, pressing a touchscreen, flipping aswitch, turning a nob, providing a voice command, providing a simplegesture, making a facial expression, or any other type of simplemovement that may elicit a response by the UAV. In some instances,simple input may include a one-touch or one-motion type of input. Forexample, pressing a single button or pressing or swiping a singleportion of a touchscreen may be a simple input that may control a UAV orcomponent thereof.

As previously described, the user input components may be part of thevehicle. The user input components may be permanently affixed to thevehicle and/or not designed to be removed from the vehicle. The userinput components may be built into the vehicle when the vehicle ismanufactured. Alternatively, existing vehicles may be retro-fitted withthe user input components. In some instances, one or more components ofa vehicle may be swapped out to be upgraded to a vehicle componenthaving the user input components. For example, a normal steering wheelmay be swapped out for a new steering wheel that may have user inputcomponents to control the UAV. In another example, a component may beadded to an existing structure of the vehicle to provide user inputcomponents. For example, a steering wheel cover may be added to anexisting steering wheel that may have user input components, such asbuttons, thereon. In another example, a vehicle shift stick cover may beprovided that may have one or more user input components thereon.

In some instances, software of a vehicle may be updated. The softwaremay be able to take the user input of the user input components andtranslate it to data that may be used to control the UAV. In oneexample, a vehicle may have a built-in display. The display software maybe updated to show user input components that may accept user input andbe translated to commands to the UAV. In another example, the vehiclemay have buttons or components, where the software may be updated tocause user inputs to the buttons or other components to be interpretedand translated to commands to the UAV.

Thus, a vehicle may have one or more hardware component that may accepta user input for the control of a UAV (or component thereof). Thevehicle may have one or more processors configured to execute commandsthat may translate the user input into a command for the control of theUAV.

A method of controlling a UAV may include receiving, at one or more userinput components of a vehicle, a UAV control input from a user, whereinthe one or more input components are part of the vehicle. A command maybe generated, with aid of a processor, to be transmitted to the UAV tocontrol operation of the UAV based on a signal from the user inputcomponents. The user input components may receive an input from a user.The user input components may send a signal to a controller of thevehicle. The controller of the vehicle may include one or moreprocessors that may, individually or collectively, execute any stepsdescribed herein. The steps may be executed in accordance withnon-transitory computer readable media comprising code, logic, orinstructions for performing one or more steps. The non-transitorycomputer readable media may be stored in a memory. The memory may beprovided on-board the vehicle. The controller may generate a signal tobe sent to a UAV, based on the user input components. For instance, thecontroller may calculate a command signal that may directly control theUAV and/or any components of the UAV. In other instances, the controllermay pre-process and/or relay the signals from the input components to besent to the UAV. The UAV may have an on-board controller that maygenerate the command signal in response to the signal from the vehicle.The vehicle may have a communication unit in communication with thevehicle controller. The UAV may have a communication unit incommunication with the UAV controller.

The communication unit of the vehicle and the communication unit of theUAV may communicate with one another. The communications may be wirelesscommunication. The communications may be direct communications orindirect communications. The communication units may be capable ofswitching between different communication modes. The communication unitsmay provide one-way communications (e.g., from the UAV to the vehicle,or from the vehicle to the UAV). The communication units may providetwo-way communications between the vehicle and the UAV. In someinstances, multiple communication units may be provided between thevehicle and the UAV. The different communication units may be used forthe transmission of different types of data or different directions ofdata. In other instances, single communication units may be provided forall types and/or directions of communication.

A display 1530 may be provided on-board a vehicle. The display may bewithin the vehicle. The display may be part of any component of thevehicle. For example, the display may be built into the dashboard,window, steering wheel, door panel, seat, or any other portion of thevehicle. The display may be within arm's reach of a driver and/orpassenger of the vehicle. The display may be within the line of sight ofa driver and/or passenger of the vehicle. The display may be within theline of sight of a driver and/or passenger of the vehicle when thedriver and/or passenger is facing forward.

The display may be a part of the vehicle when the vehicle ismanufactured. The display may be added to the vehicle at amanufacturer's site. In other examples, existing vehicles may beretrofitted with the display. The display may be permanently affixed tothe vehicle and/or not designed to be separated from and/or removed fromthe vehicle. The display may be integral to any part of the vehicle. Inother instances, the display may be removable and/or separable from thevehicle. The display may be attached to a display receiving dock of thevehicle. The display receiving dock may have a complementary shape thatmay receive the display. The display receiving dock may or may notinclude electrical connectors that may electrically connect the displaywith other components of the vehicle. For example, the electricalconnectors may electrically connect the display to a communication unitof the vehicle. When images or other data are received at thecommunication unit of the vehicle, they may be transmitted via anelectrical connector to the display.

In one example, a removable or separable display may be a mobile deviceof a user. For example, the display may be a smartphone (e.g., iPhone,Galaxy, Blackberry, Windows phone, etc.), tablet (e.g., iPad, Galaxy,Surface, etc.), laptop, personal device assistant, or any other type ofdisplay device. The display may be held in a user's hand or on a user'slap. Optionally, a mount may be provided on the vehicle to which thedisplay may attach. The mount may physically support the displayrelative to the rest of the vehicle. The mount or may not provideadditional electrical and/or data connections between the display andthe rest of the vehicle.

The display may show information based on data received from a UAV. Thedisplay may be a monitor that may be viewable from within the vehicle.For example, the display may show image data captured by a UAV. Theimage data may optionally be shown in real-time. For example, if acamera of the UAV is capturing video, live streaming video may be shownon the display. The display may show information relating to the UAV,such as a state of the UAV.

The information may show environmental information around the UAV. Forexample, environmental conditions, such as temperature, wind speedand/or direction, sunniness, precipitation, or air pressure may beshown. The display may optionally show a map which may show the locationof the UAV relative to the vehicle and/or one or more geographicfeatures. The position of the UAV and/or vehicle may be updated inreal-time. Thus, a user may be able to track how the UAV and/or vehicleare moving in their geographical contexts or relative to one another.The display optionally shows a state of one or more components of theUAV. For example, error conditions or malfunctions of one or morecomponents of the UAV may be displayed. In some examples, the displaymay show information about a state of charge of one or more batteries ofthe UAV.

In addition to information relating to the UAV, the display may showinformation about the vehicle. For example, the display may showinformation about a location of the vehicle. The display may showinformation about environmental conditions surrounding the vehicle.Examples of environmental conditions around the vehicle may includetemperature, wind speed and/or direction, sunniness, precipitation, orair pressure. The display may show other information about thesurroundings of the vehicle. For example, the display may show a mapshowing roads, traffic level, city lines, bodies of water, structures,natural features, topography, or any other information. The display mayaid with navigation of the vehicle. The display may provide routeguidance for the vehicle. The display may show other informationrelating to the vehicle, such as fuel efficiency, level of fuel and/orcharge left, malfunction of a component of the vehicle, low batterylevel, low tire pressure, check engine, parking brake on, or any otherdata relating to the vehicle.

The display may show information pertaining to a docking station of thevehicle. For example, if a malfunction has occurred on the dockingstation of the vehicle, the data may be displayed. In some instances,the display may show whether a cover of a docking station is open orclosed. The display may show whether a UAV is currently docked to thevehicle, or whether the UAV is in flight and there is currently no UAVdocked to the vehicle. In some instances, an image capture device may beprovided on board the vehicle. The image capture device may capture animage of the docking station. The image of the docking station may bedisplayed on the display of the vehicle. This may provide a user with aview of the state of the UAV docking station on the vehicle.

Information on the display may be displayed in real-time. Theinformation may be displayed within any of the time units describedelsewhere herein. The information may be displayed and/or updatedperiodically. The information may be displayed while the vehicle isoperational and/or in motion. The information may be displayed while theUAV is docked to the vehicle and/or landed on the vehicle. Theinformation may be displayed while the UAV is in flight.

The display may also show user input components 1540 a, 1540 b. Forexample, a touchscreen may show one or more regions for a user to touchto provide user input components. The user input components may be shownsimultaneously with the information shown on the display. In oneexample, a user may input a command that may affect a flight of the UAV.The images captured by the UAV may be streamed in real-time to thedisplay. Thus, the user may be able to see the response of the UAV tothe user's input in real-time.

In some instances, a single display may be provided on-board thevehicle. The single display may show any of types of informationdescribed herein. In some instances, a combination of the types ofinformation described herein may be displayed. The display may alsooptionally include user input components. In some implementations,multiple displays may be provided on-board the vehicle. The displays mayhave any of the characteristics described herein. In some examples, somedisplays may be affixed or permanently attached to the vehicle whileother displays may be removable and/or separable from the vehicle. Thedisplays may individually or collectively show any of the types ofinformation described herein. In some instances, different displays mayshow different types of information. For example, a first display showimages streamed from a UAV while a second display may show locationinformation for the UAV and/or vehicle. Optionally a third display mayshow information about a docking station of the vehicle. Any number ofdisplays may be provided. One or more, two or more, three or more, fouror more, five or more, six or more, seven or more, eight or more, nineor more, or ten or more display may be provided within a vehicle and/oron-board the vehicle. The various displays may show the same informationor different information. The various displays may show the same type ofinformation or different types of information. The various displays mayshow information pertaining to a UAV, environment, vehicle, dockingstation, and/or any components thereof.

The systems, devices, and methods described herein can be applied to awide variety of movable objects. As previously mentioned, anydescription herein of an aerial vehicle, such as a UAV, may apply to andbe used for any movable object. Any description herein of an aerialvehicle may apply specifically to UAVs. A movable object of the presentinvention can be configured to move within any suitable environment,such as in air (e.g., a fixed-wing aircraft, a rotary-wing aircraft, oran aircraft having neither fixed wings nor rotary wings), in water(e.g., a ship or a submarine), on ground (e.g., a motor vehicle, such asa car, truck, bus, van, motorcycle, bicycle; a movable structure orframe such as a stick, fishing pole; or a train), under the ground(e.g., a subway), in space (e.g., a spaceplane, a satellite, or aprobe), or any combination of these environments. The movable object canbe a vehicle, such as a vehicle described elsewhere herein. In someembodiments, the movable object can be carried by a living subject, ortake off from a living subject, such as a human or an animal. Suitableanimals can include avines, canines, felines, equines, bovines, ovines,porcines, delphines, rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be an aerial vehicle. Forexample, aerial vehicles may be fixed-wing aircraft (e.g., airplane,gliders), rotary-wing aircraft (e.g., helicopters, rotorcraft), aircrafthaving both fixed wings and rotary wings, or aircraft having neither(e.g., blimps, hot air balloons). An aerial vehicle can beself-propelled, such as self-propelled through the air. A self-propelledaerial vehicle can utilize a propulsion system, such as a propulsionsystem including one or more engines, motors, wheels, axles, magnets,rotors, propellers, blades, nozzles, or any suitable combinationthereof. In some instances, the propulsion system can be used to enablethe movable object to take off from a surface, land on a surface,maintain its current position and/or orientation (e.g., hover), changeorientation, and/or change position.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. The movableobject may be controlled remotely via an occupant within a separatevehicle. In some embodiments, the movable object is an unmanned movableobject, such as a UAV. An unmanned movable object, such as a UAV, maynot have an occupant onboard the movable object. The movable object canbe controlled by a human or an autonomous control system (e.g., acomputer control system), or any suitable combination thereof. Themovable object can be an autonomous or semi-autonomous robot, such as arobot configured with an artificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 16 illustrates an unmanned aerial vehicle (UAV) 1600, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 1600 can include apropulsion system having four rotors 1602, 1604, 1606, and 1608. Anynumber of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length410. For example, the length 1610 can be less than or equal to 2 m, orless than equal to 5 m. In some embodiments, the length 1610 can bewithin a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to 5m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa. The UAV may usean assisted takeoff system or method as described herein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 17 illustrates a movable object 1700 including a carrier 1702 and apayload 1704, in accordance with embodiments. Although the movableobject 1700 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1704 may be provided on the movable object1700 without requiring the carrier 1702. The movable object 1700 mayinclude propulsion mechanisms 1706, a sensing system 1708, and acommunication system 1710.

The propulsion mechanisms 1706 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 506 can be mounted on the movableobject 1700 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1706 can be mounted on any suitable portion of the movable object 1700,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1706 can enable themovable object 1700 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1700 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1706 can be operable to permit the movableobject 1700 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1700 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1700 can be configured to becontrolled simultaneously. For example, the movable object 1700 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1700. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1700 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1708 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1700 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1708 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1700(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 508 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1710 enables communication with terminal 1712having a communication system 1714 via wireless signals 1716. Thecommunication systems 1710, 1714 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1700 transmitting data to theterminal 1712, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1710 to one or morereceivers of the communication system 1712, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1700 and the terminal 1712. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1710 to one or more receivers of the communication system 1714,and vice-versa.

In some embodiments, the terminal 1712 can provide control data to oneor more of the movable object 1700, carrier 1702, and payload 1704 andreceive information from one or more of the movable object 1700, carrier1702, and payload 1704 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1706), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1702).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1708 or of the payload 1704). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1712 can be configured tocontrol a state of one or more of the movable object 1700, carrier 1702,or payload 1704. Alternatively or in combination, the carrier 1702 andpayload 1704 can also each include a communication module configured tocommunicate with terminal 1712, such that the terminal can communicatewith and control each of the movable object 1700, carrier 1702, andpayload 1704 independently.

In some embodiments, the movable object 1700 can be configured tocommunicate with another remote device in addition to the terminal 1712,or instead of the terminal 1712. The terminal 1712 may also beconfigured to communicate with another remote device as well as themovable object 1700. For example, the movable object 1700 and/orterminal 1712 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1700, receivedata from the movable object 1700, transmit data to the terminal 1712,and/or receive data from the terminal 1712. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1700 and/orterminal 1712 can be uploaded to a website or server.

FIG. 18 is a schematic illustration by way of block diagram of a system1800 for controlling a movable object, in accordance with embodiments.The system 1800 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1800can include a sensing module 1802, processing unit 1804, non-transitorycomputer readable medium 1806, control module 1808, and communicationmodule 1810.

The sensing module 1802 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1802 can beoperatively coupled to a processing unit 1804 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1812 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1812 canbe used to transmit images captured by a camera of the sensing module1802 to a remote terminal.

The processing unit 1804 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1804 can be operatively coupled to a non-transitorycomputer readable medium 1806. The non-transitory computer readablemedium 1806 can store logic, code, and/or program instructionsexecutable by the processing unit 1804 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1802 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1806. Thememory units of the non-transitory computer readable medium 1806 canstore logic, code and/or program instructions executable by theprocessing unit 1804 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1804 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1804 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1804. In some embodiments, thememory units of the non-transitory computer readable medium 1806 can beused to store the processing results produced by the processing unit1804.

In some embodiments, the processing unit 1804 can be operatively coupledto a control module 1808 configured to control a state of the movableobject. For example, the control module 1808 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1808 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1804 can be operatively coupled to a communicationmodule 1810 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1810 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1810 can transmit and/or receive one or more of sensing data from thesensing module 1802, processing results produced by the processing unit1804, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1800 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1800 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 18 depicts asingle processing unit 1804 and a single non-transitory computerreadable medium 1806, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1800 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1800 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

1. (canceled)
 2. An apparatus for housing an unmanned aerial vehicle(UAV) in or on a vehicle, the apparatus comprising: a landing connectioncomponent configured to form a connection between the UAV and thevehicle when the UAV is landed in or on the vehicle; and a cover movablebetween a plurality of positions to permit the UAV to take off and landin or on the vehicle, the cover comprising an antenna or a satellitedish integrated thereto, wherein an orientation of the antenna or thesatellite dish is adjustable for tracking a motion of the UAV when theUAV is in flight.
 3. The apparatus of claim 2, wherein the orientationof the antenna or the satellite dish is configured to be adjusted byrotating about one or more axes of rotation, such that a primarydirection of communication of the antenna or satellite dish is in linewith the motion of the UAV.
 4. The apparatus of claim 2, wherein theantenna or the satellite dish is coupled to an actuator configured toeffect orientation of the antenna or the satellite dish.
 5. Theapparatus of claim 2, wherein the orientation of the antenna or thesatellite dish is configured to be adjusted based on one or morecommands received in real-time or periodically from the vehicle.
 6. Theapparatus of claim 5, wherein the one or more commands indicate at leasta horizontal angle or a vertical angle to orient the antenna or thesatellite dish.
 7. The apparatus of claim 6, wherein the horizontalangle or the vertical angle is determined based on GPS coordinates ofthe UAV and the vehicle, distance between the UAV and the vehicle, analtitude difference between the vehicle and the UAV, lateral velocitiesof the UAV and the vehicle, or vertical velocities of the UAV and thevehicle.
 8. The apparatus of claim 2, wherein the plurality of positionsof the cover comprise at least one of an open position or a closedposition, the open position permits the UAV to take off and land, andthe closed position at least partially encloses the UAV when the UAV isconnected to the landing connection component.
 9. The apparatus of claim2, wherein the cover is coupled to an actuator configured to drive thecover between the plurality of positions.
 10. The apparatus of claim 2,wherein the cover moves between the plurality of positions based on oneor more commands received from the vehicle.
 11. The apparatus of claim10, wherein the one or more commands include at least one of (1) atake-off command to drive one or more propulsion units of the UAV duringtake-off from the vehicle, or (2) a landing command to automaticallyland the UAV in or on the vehicle.
 12. The apparatus of claim 2, whereinthe UAV and the vehicle are configured to communicate with each othervia (1) the landing connection component when the UAV is landed in or onthe vehicle, or (2) the antenna or the satellite dish when the UAV is inflight.
 13. The apparatus of claim 12, wherein the UAV and the vehicleare configured to communicate with each other via an encryptedcommunication channel.
 14. The apparatus of claim 2, further comprising:a mounting component configured to be permanently or removably attachedto the vehicle.
 15. The apparatus of claim 14, wherein the mountingcomponent is configured to be attached to a roof, a trunk, a door, or ahood of the vehicle.
 16. A vehicle configured to couple with an unmannedaerial vehicle (UAV), the vehicle comprising: a landing connectioncomponent configured to form a connection between the UAV and thevehicle when the UAV is landed in or on the vehicle; a cover movablebetween a plurality of positions to permit the UAV to take off and landin or on the vehicle, the cover comprising an antenna or a satellitedish integrated thereto; and one or more processors configured togenerate one or more commands to adjust an orientation of the antenna orthe satellite dish for tracking a motion of the UAV when the UAV is inflight.
 17. The vehicle of claim 16, wherein the orientation of theantenna or the satellite dish is configured to be adjusted by rotatingabout one or more axes of rotation, such that a primary direction ofcommunication of the antenna or satellite dish is in line with themotion of the UAV.
 18. The vehicle of claim 16, wherein the generatedone or more commands indicate at least a horizontal angle or a verticalangle to orient the antenna or the satellite dish.
 19. The vehicle ofclaim 18, wherein the horizontal angle or the vertical angle isdetermined by the one or more processors based on GPS coordinates of theUAV and the vehicle, distance between the UAV and the vehicle, analtitude difference between the vehicle and the UAV, lateral velocitiesof the UAV and the vehicle, or vertical velocities of the UAV and thevehicle.
 20. The vehicle of claim 16, wherein the UAV and the vehicleare configured to communicate with each other via (1) the landingconnection component when the UAV is landed in or on the vehicle, or (2)the antenna or the satellite dish when the UAV is in flight.
 21. Amethod for housing an unmanned aerial vehicle (UAV) in or on a vehicle,the method comprising: providing a landing connection component on thevehicle, the landing connection component configured to form aconnection between the UAV and the vehicle when the UAV is landed in oron the vehicle; providing a cover on the vehicle, the cover movablebetween a plurality of positions to permit the UAV to take off and landin or on the vehicle, wherein the cover comprises an antenna or asatellite dish integrated thereto; and adjusting, by one or moreprocessors on the vehicle, an orientation of the antenna or thesatellite dish for tracking a motion of the UAV when the UAV is inflight.